Nonlinear Feedback Model of Active Disturbance Rejection Controller Built Using Simulink

I have developed an Active Disturbance Rejection Controller (ADRC) with a nonlinear feedback model implemented in Simulink, which incorporates several modifications compared to the previously shared version. This controller employs advanced disturbance estimation techniques through an extended state observer (ESO) and utilizes nonlinear feedback laws to significantly enhance disturbance rejection capabilities in control systems. The implementation features custom S-function blocks for nonlinear gain scheduling and tracking differentiator components that work synergistically to improve system stability and dynamic performance. Through this controller architecture, we achieve superior disturbance attenuation and robust performance by continuously estimating and compensating for system uncertainties in real-time. The model development is grounded in thorough research and analysis of system dynamics, with particular emphasis on handling nonlinear characteristics through piecewise linearization and state-dependent parameter adjustments. The controller's structure includes specialized blocks for transient profile generation and disturbance compensation, enabling better adaptation to system variations and uncertainties while maintaining high robustness and adaptability. Key implementation aspects include the use of Simulink's Stateflow for mode switching logic and MATLAB Function blocks for custom nonlinear control algorithms. The overall design demonstrates significant potential as a practical solution that can play crucial roles in real-world applications, particularly in systems requiring high precision control under varying operating conditions.