Desing and analysis of active disturbance rejection control techniques with experimental applications

This thesis is intended to explore the design and analysis of active disturbance rejection control techniques through a series of experimental applications. The fundamental objective of this study is to investigate how various advanced control strategies can be effectively applied in real-world scenarios and how their performances can be systematically assessed. The thesis meticulously examines the development and experimental validation process of active disturbance rejection methods. The practical utility and effectiveness of these methods are planned to be comprehensively understood through detailed design, parameter tuning, and testing in various scenarios. As the experimental platform, electromechanical system has been chosen which is widely used in numerous industrial applications. The mathematical and parametric model of the system has been obtained through real-time system identification experiments. One of the primary contributions of this research is to provide enlightening insights into the applicability and effectiveness of linear active disturbance rejection control in industrial processes. The study is focused on the examination of transient state performance and steady-state errors, employing various performance metrics for evaluation. Another significant aspect of this thesis is the introduction and experimental validation of fractional-order linear disturbance rejection methods. This innovative approach and its experimental verification are expected to expand the boundaries of knowledge and contribute to the improvement of engineering applications and control systems. In conclusion, this master thesis represents an advanced research endeavor in the field of engineering applications and control systems. Keywords: Active Disturbance Rejection Control, Internal Model Control, Linear Active Disturbance Rejection Control, Observer-Based Control