Flatness-Based Discrete Active Disturbance Rejection Control for the Flexible Transmission System

The flexible transmission system benchmark was proposed to evaluate the robustness of digital controllers. The multi-model uncertainty coupled with the non-minimum phase (NMP) zero is a challenging issue for the controller design. Therefore, a flatness-based discrete active disturbance rejection control (ADRC) scheme is formulated in this work, constituting an extended state observer, a linear feedback law and a set-point filter. The NMP zero...