Decoupling Control Based on Active Disturbance Rejection Controller

In order to reduce the complexity and calculated amount of those decoupling control methods based on the system model, active disturbance rejection controller (ADRC) was applied to decoupling of multivariable system. We designed the tracking-differentiator, the extended state observer and nonlinear state error feedback components. Model was established with Simulink and encapsulated as functional module. ADRC is independent with the controlled object, and take all uncertainties of the system as the disturbances to compensate. The simulation result shows that ADRC can achieve the decoupling control of multivariable system, and have well robustness.