SCIENCE CHINA Information Sciences, Volume 63 , Issue 10 : 209201(2020) https://doi.org/10.1007/s11432-018-9647-6

On the characteristics of ADRC: a PID interpretation

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  • ReceivedJun 21, 2018
  • AcceptedSep 18, 2018
  • PublishedApr 13, 2020


There is no abstract available for this article.


This work was supported by National Natural Science Foundation of China (Grant No. 61733017) and Nature Science Foundation of Fujian Province (Grant No. 2016J01317).


Appendix A.


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  • Figure 1

    (Color online) Frequency analysis of the feedback compensator of second-order LADRC. (a) Block diagram of second-order LADRC; (b) Bode plots of $C(s)$ and $C_{\rm~PID}(s)$, in which $K_c=2.5$, $\tau_I=1.777$, $\tau_D=0.4$.