Birinci ve ikinci dereceden zaman gecikmeli sistemler için aktif bozulma reddi kontrolü (ADRC)

Active Disturbance Rejection Control (ADRC) is a control method that excels at managing disturbances and modeling uncertainties in dynamic systems. Unlike traditional methods, ADRC does not require an extremely accurate system model; instead, it proactively estimates and compensates for disturbances in real-time. This makes it highly effective for unpredictable environments, such as those found in robotics, vehicle dynamics, and industrial automation. This study presents the principles of ADRC operation, its application in dynamic systems, and its stability and dependability. Regarding both basic and more sophisticated systems, this study examines how the system environment and its observer bandwidth affect controller efficiency. Specifically, it assesses a complex motor system, in which a standard PID controller is developed and contrasted with an ADRC. Additionally, discrete-time ADRC is also investigated, and its performance in rejecting disturbances under various conditions is analyzed. Stability conditions are given for both kinds of systems. The simulations demonstrate that ADRC is more stable and performs better than a PID controller, particularly in the presence of uncertainties and limits, as illustrated in the motor control example.