The use of known model information in the design of an active disturbance rejection controller reduces the magnitude of the “total disturbance” and consequently improves the control performance.
Based on Takagi–Sugeno (T-S) fuzzy modeling, Choe Hak Jin, a researcher at the Faculty of Metallic Engineering, proposed a new method for incorporating the known nonlinear dynamics of the plant into a linear active disturbance rejection controller (LADRC),
In order to evaluate the effectiveness of the proposed method, he performed simulations of a cart inverted pendulum.
The simulation results show that the estimation burden of the extended state observer is reduced and the control performance is improved in the proposed method than in the conventional model-assisted LADRC that can incorporate only linear model information, and that the proposed cascade control scheme has good disturbance rejection, transient response and robustness at the same time.
If further information is needed, please refer to his paper “A cascade control scheme with T-S fuzzy model-assisted linear active disturbance rejection controller for position tracking of cart inverted pendulum” in “International Journal of Dynamics and Control” (SCI).