Active disturbance rejection control: a guide for design and application

This tutorial addresses the design of controllers by active disturbance rejection control (ADRC). First, the main blocks in the ADRC loop are described. Next, the formulation of the control problem under the disturbance rejection framework is discussed, as well as the tuning of the gains set which are part of the main loop and a guide on designing of the active disturbance rejection controller is presented. This tutorial aims to offer an introduction to readers about the ADRC and a review of the most significant publications that have contributed to development and advance in the research related to the area. To illustrate the design procedure, two examples are included: thermal control and the multivariable control of a chemical process