MATLAB Implementation of Active Disturbance Rejection Controller (ADRC)

Active Disturbance Rejection Controller, commonly referred to as ADRC, is a control system implemented through MATLAB m-functions and Simulink models. The primary design objective of ADRC is to enhance system stability and robustness by suppressing external disturbances and model errors. The controller employs a nonlinear observer to estimate and compensate for system disturbances in real-time, enabling high-precision control performance. The MATLAB implementation typically includes key functions for disturbance estimation, state observation, and control law calculation, while the Simulink components provide modular blocks for system integration and simulation. ADRC has gained widespread adoption in industrial and scientific applications, offering an effective solution for various complex control challenges. The algorithm's core mechanism involves separating system dynamics into known modeled parts and unknown disturbances, which are then actively compensated through the controller's unique structure.