Linear Feedback Model of Active Disturbance Rejection Controller Built Using Simulink

In this article, we discuss building a linear feedback model for Active Disturbance Rejection Controller (ADRC) using Simulink. ADRC represents an advanced control methodology that enhances control system robustness and stability through real-time compensation of external disturbances and internal model uncertainties. The implementation involves designing linear feedback controllers to regulate system outputs and match them with desired reference signals. We provide detailed explanations on Simulink implementation techniques, including model construction using block diagrams, parameter configuration through MATLAB scripting (e.g., setting observer bandwidth and controller gains), and system simulation with step response analysis. Key components include Extended State Observer (ESO) implementation for disturbance estimation and linear state feedback control law computation. Through this tutorial, you will gain deeper insights into ADRC operational principles and acquire practical skills for implementing this control architecture using Simulink's graphical programming environment.