Parameter-tuning in active disturbance rejection controller using time scale
根据系统时间尺度整定自抗扰控制器参数

In spite of the wide application of the active disturbance rejection controller (ADRC) with successful results, the parameter-tuning of this controller remains an unsolved problem. On the basis of the common definition of a time scale, we propose a computation rule for calculating the time scale of a 2nd-order system from the unit-step response. Under the assumption of the time-scale invariance for the controlled system with extended state-compensation, we develop a parameter-tuning method for the ADRC based on the time scale of the controlled system. Simulation results show the feasibility of the proposed method which provides the convenience to the parameter-tuning of ADRC.