Active Disturbance Rejection Control of Dynamic Systems

He obtained his Electrical Engineering degree in 1970 from the University of Los Andes (Merida, Venezuela). He completed his postgraduate studies at the Massachusetts Institute of Technology (Cambridge, Mass. USA) in 1974 where he held together, the titles of Master of Science in Electrical Engineer and Electrical Engineer. In 1977 he received a Doctorate (PhD) in Electrical Engineering from the Institute. Held the posts of Head of Control Systems from 1978 to 1980, the Administrative Vice Chancellor of University of the Andes during the period 1980-1984 and Head of the Graduate Faculty of Automatic Control Engineering 1992-1993. Alberto Luviano Juárez was born in Mexico City, Mexico, in 1981. He received the B.S. degree in mechatronics engineering from the Instituto Politécnico Nacional, Mexico, in 2003, the M.Sc. degree in automatic control from the Department of Automatic Control, Centro de Investigación y de Estudios Avanzados (CINVESTAV), Instituto Politécnico Nacional (IPN), in 2006, and the Ph.D. degree in electrical engineering from the Mechatronics section, Departament of Electrical Engineering at CINVESTAV, IPN, in 2011.Since 2011, he has been with the Postgraduate and Research Section at Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, IPN. His research interests include robust estimation and control in mechatronic systems, robotics, and algebraic methods in the estimation and control of mechatronic systems. Dr. Alberto Luviano Juárez is the Coordinator of Master's Program in Advanced Technology, since april 2014. M. Ramírez-Neria He received the B.S. degree in Mechatronics Engineering from UPIITA-IPN of the Instituto Politécnico Nacional , Mexico City, Mexico (2008), the M.S. degree in Electrical Engineering from the Mechatronics Section of the Electrical Engineering Department of CINVESTAV-IPN, Mexico City,Mexico (2011), Currently, he is a Ph.D. candidate at Automatic Control Departament of CINVESTAV-IPN. His current research interest are applications of control theory, active disturbance rejection control, mechanical underactuated systems, robotics and mechatronic systems. E.W. Zurita-Bustamante received the B.S.degree in electronic engineering from the Universidad Tecnológica de la Mixteca, Huajuapan de León, Oaxaca, México, in 2007, the M.S degree in Electronic and Computer Science from the Universidad Tecnológica de la Mixteca, Huajuapan de León, Oaxaca, México, in 2010. Currently, he is a Ph.D. student at Electrical Departament of CINVESTAV-IPN. His research interests include development and implementation of hardware architectures on reconfigurable logic for power electronics, automatic control and mechatronic systems.

• 1. Introduction1.1 A Brief Historical Perspective on Active Disturbance Rejection ControlReferences2. Generalities of ADRC2.1 Introduction 2.2 Main Theoretical Issues2.3 The Need for Flatness-Based ADRC Designs2.4 Ultralocal Disturbance ModelsReferences3. Merging Flatness, GPI Observation and GPI Control with ADRC3.1 Introduction 3.2 GPI Extended State Observer Design3.3 An Observer-Based Approach to GPI Perturbation Rejection3.4 The Buck Converter3.5 Example: A Pendulum System3.6 Two-Link Robot Manipulator3.7 Nonholonomic Wheeled Car3.8 Two-Mass Rectilinear Mechanism 3.9 Remarks References4. Extensions of ADRC4.1 Introduction 4.2 Integral Reconstructors of MIMO Linear Systems4.3 A Lyapunov Approach for a Class of Nonlinear Multivariable Systems4.4 Combined Sliding-Mode–ADRC Controllers 4.5 ADRC and Sampled Systems: The Delta Operator Approach 4.6 Control of Time Delay Systems 4.7 Relations With Model-Free Control 4.8 Fractional-Order Systems References5. Case Studies5.1 Introduction 5.2 A Two-Degree-of-Freedom Robotic Arm5.3 An Omnidirectional Robot 5.4 A Single-Link Manipulator Driven by a Synchronous Motor 5.5 Nonlinear Pendulum System 5.6 The Thomson Ring 5.7 Trajectory Tracking Control of a Delta Robot 5.8 A Time-Delayed Flywheel System 5.9 Control of Robot Manipulators with Delayed Inputs References6. The Challenging Case of Underactuated Systems6.1 Introduction 6.2 Controlling the Pendubot via Tangent Linearization6.3 A Two-Mass Spring System with an Inverted Pendulum 6.4 Double Inverted Pendulum on a Cart 6.5 The Furuta Pendulum 6.6 The Ball-and-Beam System 6.7 Remarks ReferencesA. Differential FlatnessA.1 Definition of Flatness A.2 Illustrative Examples A.3 About the Advantages and Disadvantages of FlatnessA.4 Differential Flatness and UncertaintyReferences B. Generalized Proportional Integral ControlB.1 Definitions and Generalities B.2 Generalized Proportional Integral Control and Classical Compensation NetworksB.3 An Illustrative Application Example B.4 GPI Control for Discrete-Time Systems B.5 A General Result for Multivariable Linear Systems ReferencesIndex