ADRC with RC for improved disturbance rejection capability for time-varying plant

For regulating periodic uncertainties in system dynamics and external disturbances, a robust controller is proposed for a time-varying plant. The design is based on the concept of active disturbance rejection control (ADRC) with repetitive controller (RC). ADRC with RC is particularly effective against a wide range of parameter variations, model uncertainties, and large disturbances. With only two tuning parameters, the controller provides a simple and user friendly solution to complex engineering problems in practice. The simulation results verified the effectiveness of the ADRC with RC