Active disturbance rejection control for uncertain multivariable systems with time-delay

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Xia, Y, Shi, Peng, Liu, G. P, Rees, D and Han, J (2007) Active disturbance rejection control for uncertain multivariable systems with time-delay. IET Control Theory and Applications, 1 (1). pp. 75-81. ISSN 1751-8644


A new nonlinear control method for multivariable systems with time delay is presented. It is based on a unique active disturbance rejection concept. The proposed active disturbance rejection controller (ADRC) consists of the tracking differentiator, the extended state observer and the nonlinear proportional derivative (PD) controller. In this approach, the systems with time delay in the input are viewed as higher-order systems without time delay in the input, the approximation error between the nominal systems and real systems and other uncertainties, all of which are seen as `disturbance' by ADRC and are actively compensated. The techniques developed here can be effectively used in engineering systems, such as chemical processes, and this is demonstrated by an example.

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Item type Article
DOI 10.1049/iet-cta:20050138
Official URL
Subjects Historical > FOR Classification > 0906 Electrical and Electronic Engineering
Historical > Faculty/School/Research Centre/Department > Institute for Logistics and Supply Chain Management (ILSCM)
Keywords ResPubID18806, delays, multivariable control systems, nonlinear control systems, observers, uncertain systems
Citations in Scopus 195 - View on Scopus
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