Transfer function analysis and implementation of active disturbance rejection control

To support the adoption of active disturbance rejection control (ADRC) in industrial practice, this article aims at improving both understanding and implementation ADRC using traditional means, particular via transfer functions a frequency-domain view. Firstly, to enable an immediate comparability with existing classical solutions, realizable function continous-time linear is introduced. Secondly, analysis components, performance, parameter sensitivity, tuning method performed. Finally, exact discrete-time introduced for first time, special emphasis on practical aspects such as computational efficiency, low footprint, windup protection.