On Combining Active Disturbance Rejection with Adaptive Inverse Control for Fast Tracking at Low Bandwidth

Document Type

Conference Proceeding

Publication Date


Publication Title

Control Conference (CCC), 2014 33rd Chinese


An adaptive feedforward mechanism is combined with active disturbance rejection control (ADRC) to provide fast tracking performance without requiring high observer bandwidth. The feedforward controller uses an inverse plant model that is continuously adjusted as the plant changes. Providing this controller with reasonable initial conditions dramatically improves how quickly it can derive a reasonable inverse model. Simulation results demonstrate tracking and disturbance rejection capabilities at a low cost, i.e. bandwidth.

Original Citation

Q. Zheng, J. Tatsumi and Z. Gao, "On combining active disturbance rejection with adaptive inverse control for fast tracking at low bandwidth," in Control Conference (CCC), 2014 33rd Chinese, 2014, pp. 8831-8836.