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From flatness, GPI observers, GPI control and flat filters to observer-based ADRC 被引量:6

From flatness, GPI observers, GPI control and flat filters to observer-based ADRC
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摘要 In this article, we establish the route taken by the author, and his research group, to bring differential flatness to the realm of active disturbance rejection control (ADRC). This avenue entitled: 1) generalized proportional integral observers (GPIO), as natural state and disturbance observers for fiat systems, 2) generalized proportional integral (GPI) control, provided with extra integrations, to produce a modular controller known as flat filters (FF's) and, finally, 3) the establishing of an equivalence of observer based ADRC with FF's. The context is that of pure integration systems. The obtained controllers depend only on the order of the flat system and they are to be directly used on the basis of the available flat output signal in a universal, modular, fashion. The map is complemented with the relevant references where the intermediate techniques were illustrated and developed, over the years, in connection with laboratory experimental implementations. In this article, we establish the route taken by the author, and his research group, to bring differential flatness to the realm of active disturbance rejection control (ADRC). This avenue entitled: 1) generalized proportional integral observers (GPIO), as natural state and disturbance observers for fiat systems, 2) generalized proportional integral (GPI) control, provided with extra integrations, to produce a modular controller known as flat filters (FF's) and, finally, 3) the establishing of an equivalence of observer based ADRC with FF's. The context is that of pure integration systems. The obtained controllers depend only on the order of the flat system and they are to be directly used on the basis of the available flat output signal in a universal, modular, fashion. The map is complemented with the relevant references where the intermediate techniques were illustrated and developed, over the years, in connection with laboratory experimental implementations.
机构地区 CINVESTAV-IPN
出处 《Control Theory and Technology》 EI CSCD 2018年第4期249-260,共12页 控制理论与技术(英文版)
关键词 FLATNESS GPI observers GPI control reduced order GPI observers fiat filters Flatness GPI observers GPI control reduced order GPI observers fiat filters
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