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Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach
By Hebertt Sira-Ramirez, Alberto Luviano-Juárez, Mario Ramírez-Neria and Eric William Zurita-Bustamante
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About this ebook
Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach describes the linear control of uncertain nonlinear systems. The net result is a practical controller design that is simple and surprisingly robust, one that also guarantees convergence to small neighborhoods of desired equilibria or tracking errors that are as close to zero as desired.
This methodology differs from current robust feedback controllers characterized by either complex matrix manipulations, complex parameter adaptation schemes and, in other cases, induced high frequency noises through the classical chattering phenomenon.
The approach contains many of the cornerstones, or philosophical features, of Model Free Control and ADRC, while exploiting flatness and GPI control in an efficient manner for linear, nonlinear, mono-variable and multivariable systems, including those exhibiting inputs delays.
The book contains successful experimental laboratory case studies of diverse engineering problems, especially those relating to mechanical, electro-mechanical, robotics, mobile robotics and power electronics systems.
- Provides an alternative way to solve disturbance rejection problems and robust control problem beyond the existing approaches based on matrix algebra and state observers
- Generalizes the widely studied Extended State Observer to a class of observers called Generalized Proportional Integral Observers (GPI Observers)
- Contains successful experimental laboratory case studies
Author
Hebertt Sira-Ramirez
He obtained his Electrical Engineering degree in 1970 from the University of Los Andes (Merida, Venezuela). He completed his postgraduate studies at the Massachusetts Institute of Technology (Cambridge, Mass. USA) in 1974 where he held together, the titles of Master of Science in Electrical Engineer and Electrical Engineer. In 1977 he received a Doctorate (PhD) in Electrical Engineering from the Institute. Held the posts of Head of Control Systems from 1978 to 1980, the Administrative Vice Chancellor of University of the Andes during the period 1980-1984 and Head of the Graduate Faculty of Automatic Control Engineering 1992-1993.
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Active Disturbance Rejection Control of Dynamic Systems - Hebertt Sira-Ramirez
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