Active Disturbance Rejection Control Code Implementation

In control engineering, Linear Active Disturbance Rejection Control (LADRC) serves as an effective control methodology that enhances system stability and robustness. The core concept of LADRC involves integrating traditional controllers with adaptive disturbance observers to compensate for various uncertainties present in the system. Compared to conventional PID controllers, LADRC achieves superior control precision while maintaining enhanced robustness and adaptability. This control strategy typically employs extended state observers (ESOs) to estimate both system states and combined disturbances in real-time, followed by disturbance compensation through state feedback control laws. In practical implementation, LADRC code structure generally consists of three main components: the tracking differentiator (TD) for reference signal processing, the extended state observer (ESO) for state and disturbance estimation, and the state feedback control law (SEF) for final output calculation. The algorithm's effectiveness lies in its ability to treat both internal dynamics and external disturbances as generalized disturbances, which are estimated and compensated simultaneously. Due to these advantages, LADRC has gained significant popularity in modern control applications and is widely deployed in industrial automation, robotic control, power systems, and other domains requiring high-performance control solutions. Code implementation typically involves discrete-time difference equations for digital controllers, with key parameters including observer bandwidth and controller gain tuning for optimal performance.