Tuning Rules for Active Disturbance Rejection Controllers via Multiobjective Optimization—A Guide for Parameters Computation Based on Robustness

A set of tuning rules for Linear Active Disturbance Rejection Controller (LADRC) with three different levels compromise between disturbance rejection and robustness is presented. The are the result a Multiobjective Optimization Design (MOOD) procedure followed by curve fitting intended as tool designers who seek to implement LADRC considering load response processes whose behavior approximated general first-order system delay. validation proposed done through illustrative examples control nonlinear thermal process. Compared classical PID (Proportional-Integral-Derivative) other methods, derived functions offer an improvement in either rejection, or both design objectives.