Improving the Active Disturbance Rejection Controller Tracking Quality by the Input-Gain Underestimation for a Second-Order Plant

In this paper, a problem of influence an input-gain uncertainty on the tracking performance control structure designed according to Active Disturbance Rejection Control (ADRC) paradigm is investigated. This exemplified using second-order plant. It presented that conscious choice parameter different real plant may lead significant improvement precision if controller in error domain. Obtained results indicate closed-loop system remains stable, and errors decrease value follows from multiplying gain input by positive factor smaller than certain threshold value. The upper limit for investigated paper outcomes are various implementation variants. Results numerical computations, simulations experiments consider bounding individual cases.