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As an alternative to both classical PID-type and modern model-basedapproaches to solving control problems, active disturbance rejection control(ADRC) has gained significant traction in recent years. With its simple tuningmethod and robustness against process parameter variations, it puts itselfforward as a valuable addition to the toolbox of control engineeringpractitioners. This article aims at providing a single-source introduction andreference to linear ADRC with this audience in mind. A simulative study iscarried out using generic first- and second-order plants to enable a quickvisual assessment of the abilities of ADRC. Finally, a modified form of thediscrete-time case is introduced to speed up real-time implementations asnecessary in applications with high dynamic requirements.

A Simulative Study on Active Disturbance Rejection Control (ADRC) as a Control Tool for Practitioners