Aiming to implement an “advanced” control concept in a form familiar to industrial practitioners, this article proposes a cascaded filter PID paradigm for error-based active disturbance rejection control (eADRC). The proposed paradigm reveals that a PID controller can be transformed into an equivalent eADRC scheme by cascading a filter and then selecting the parameters of the filter and controller according to the derived rules. Such a transformation procedure can easily inject the beneficial characteristics of eADRC into an existing PID-type scheme while fully retaining and utilizing the original algorithm. Although some results on the seamless connection between those two control schemes have recently emerged, their analyses are limited to low-order systems. This article extends the discussion to general cases. Different implementation forms of eADRC are summarized, and comprehensive guidelines for controller design are provided. Moreover, the proposed paradigm and implementation guidelines are applied to position control of a permanent magnet synchronous motor system. A brief theoretical analysis and sufficient hardware experiments verify the effectiveness of the proposed methodology.

Publication:

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

http://dx.doi.org/10.1109/TIE.2025.3559950

Author:

Mengying Cao and Shihua Li

Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing 210096, China

e-mail: isabella_cmy@seu.edu.cn; lsh@seu.edu.cn

Jun Yang

Department of Aeronautical and Automotive Engineering, Loughborough University, LE11 3TU Loughborough, U.K.

e-mail: j.yang3@lboro.ac.uk

Rafal Madonski

Faculty of Automatic Control, Electronics and Computer Science, Silesian University of Technology, 44-100 Gliwice, Poland

e-mail: rmadonski@polsl.pl

Wenchao Xue

State Key Laboratory of Mathematical Sciences, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China, and also with the School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing 100049, China

e-mail: wenchaoxue@amss.ac.cn