Second-Order Active Disturbance Rejection Control Algorithm: Tracking Differentiator, Extended State Observer, and Nonlinear Error Feedback Law

This resource provides comprehensive documentation for the second-order active disturbance rejection control (ADRC) algorithm, including MATLAB implementation files and Simulink simulation diagrams for three core components: the Tracking Differentiator (TD), Extended State Observer (ESO), and Nonlinear Error Feedback Law (NLSEF). The TD component handles reference signal preprocessing and derivative extraction, while the ESO estimates both system states and total disturbances in real-time. The NLSEF implements nonlinear combination of error signals for robust control performance. These simulation files demonstrate practical implementation approaches, parameter tuning methods, and system performance analysis. Suitable for both beginners and experienced professionals, these materials offer valuable references for understanding ADRC architecture, algorithm realization, and practical applications in control systems. Using these resources, you can deeply explore the second-order ADRC algorithm and apply it to your actual engineering projects. Success in your research and development!