Abstract
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 flat 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.
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This work was supported by Cinvestav-IPN.
Hebertt SIRA-RAMÍREZ received the Electrical Engineer (E.E.) degree from the Universidad de Los Andes in Merida, Venezuela, in 1970, the M.Sc. degree in EE and the Electrical Engineer degree in 1974, and the Ph.D. degree, also in EE, in 1977, all from the Massachusetts Institute of Technology, Cambridge, MA, U.S.A. He was with the Universidad de Los Andes for 28 years where he held the positions of Head of the Control Systems Department, Head of the Graduate Studies in Control Engineering, and Vice President of the University. He is currently a Titular Researcher at the Centro de Investigación y Estudios Avanzados del Instituto Politécnico Nacional, Mexico City, Mexico. He is a coauthor of six books on Automatic Control and the author of more than 400 technical papers in credited journals and international conferences. His research interests include theoretical and practical aspects of feedback regulation of nonlinear dynamic systems with special emphasis on variable structure feedback control techniques, algebraic methods in control and estimation, and their applications in power electronics and other technological systems.
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Sira-Ramírez, H. From flatness, GPI observers, GPI control and flat filters to observer-based ADRC. Control Theory Technol. 16, 249–260 (2018). https://doi.org/10.1007/s11768-018-8134-x
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DOI: https://doi.org/10.1007/s11768-018-8134-x