ADRC in output and error form: connection, equivalence, performance

In this work, we investigate two specific linear ADRC structures, namely output- and error-based. The former is considered a 'standard' version of ADRC, title obtained primarily thanks to its simplicity effectiveness, which have spurred adoption across multiple industries. latter found be especially appealing practitioners as feedback error-driven structure bares similarities conventional control solutions, like PI PID. paper, describe newly connections between the allowed us formally establish conditions for their equivalence. Furthermore, conducted comprehensive performance comparison error-based ADRCs has facilitated identification modules within them, can now conveniently used building blocks, thus aiding designers in customizing ADRC-based solutions making them most suitable applications.