From flatness, GPI observers, GPI control and flat filters to observer-based ADRC  

作　　者：Hebertt SIRA-RAMIREZ 

机构地区：[1]CINVESTAV-IPN, Department of Electrical Engineering, Mechatronics Section, Avenida IPN No. 2508, Col. San Pedro Zacatenco CP 07360, CDMX, Mexico

出　　处：《Control Theory and Technology》2018年第4期249-260,共12页控制理论与技术（英文版）

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.

关 键 词：FLATNESS GPI observers GPI control reduced order GPI observers fiat filters 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TN911.72[自动化与计算机技术—控制科学与工程]