The paper derives an incremental form of discrete-time ADRC, adds rate and magnitude limiting with anti-windup, and provides formulas for bumpless controller enabling and parameter changes.
On the centrality of disturbance rejection in automatic control,
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Practical Active Disturbance Rejection Control: Bumpless Transfer, Rate Limitation and Incremental Algorithm
The paper derives an incremental form of discrete-time ADRC, adds rate and magnitude limiting with anti-windup, and provides formulas for bumpless controller enabling and parameter changes.