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Active disturbance rejection control (ADRC) is a kind of effective tool in dealing with dynamic instability, simultaneous internal and external disturbances, nonlinearity, etc. However, the application of ADRC is limited because the input and output signals of the system are not synchronized due to the existence of time-delay impact in a time-delay system. Modified twice optimal control (MTOC) is a control algorithm proposed for the time-delay system. It can effectively compensate the time-delay impact, synchronize the input and output signals of the system, and provide control conditions for a better application of ADRC to system control. In this paper, a new control algorithm, namely active disturbance rejection modified twice optimal control (ADRMTOC), is proposed based on the suppression capability of ADRC to system total disturbance and the compensation ability of MTOC to time-delay impact. The simulation experiments show that the system under this control method has strong robustness and interference suppression ability, which makes ADRMTOC have certain industrial practical values.

Time-Delay System Control Based on an Integration of Active Disturbance Rejection and Modified Twice Optimal Control