Tuning of Auto-disturbance-rejection Controller for a Class of Nonlinear Plants
一类非线性对象的自抗扰控制器参数整定

Design and adjusting rule of auto-disturbance-rejection controller are proposed for a class of first order nonlinear plants. Tracking differentiator and nonlinear combination are simplified. According to the analysis of observing error of a secould order extended state observer, an empirical tuning rule is proposed based on theoretic deduction and simulations. Simulations on a multivariable plant with adjustable zeros demonstrate validity of the tuning rule.