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A Minimum-Footprint Implementation of Discrete-Time ADRC (2104.01943v4)
Published 5 Apr 2021 in eess.SY and cs.SY
Abstract: To foster the adoption of active disturbance rejection control (ADRC) and support its deployment even on low-cost embedded systems, this article introduces the most efficient implementation of linear discrete-time ADRC to date. While maintaining all features and the exact performance characteristics of the state-space form, computational efforts and storage requirements are reduced to a minimum compared to all existing implementations. This opens up new possibilities to use ADRC in applications with high sample rates, tight timing constraints, or low computational power.