MATLAB Implementation of Active Disturbance Rejection Controller

Active Disturbance Rejection Controller (ADRC) is an innovative control methodology that effectively addresses limitations found in traditional controllers. The MATLAB source code provides significant reference value, enabling deeper understanding of ADRC's working principles. By studying this implementation, users can examine key components including: - The extended state observer (ESO) for real-time disturbance estimation - Nonlinear state error feedback control law - Transitional process arrangement for reference signals - Disturbance rejection mechanism implementation The code architecture demonstrates practical implementation of ADRC algorithms, featuring modular design with separate functions for observer dynamics, controller calculation, and system simulation. Through code analysis, users can understand internal mechanisms and perform necessary modifications and improvements. This facilitates better utilization of ADRC for solving practical control problems. In summary, Active Disturbance Rejection Controller represents a highly promising control strategy. We recommend thorough study of this implementation and its application to real-world problems to achieve superior control performance. The code includes comprehensive comments explaining parameter tuning methods and implementation considerations for various system types.