Active disturbance rejection control

[2] This approach only necessitates an estimated representation of the system's behavior to design controllers that effectively counteract disturbances without causing any overshooting.

[5] In particular, the precise control of brushless motors for joint motion is vital in high-speed industrial robot applications.

ADRC offers a solution by real-time disturbance estimation and compensation, without needing a detailed model.

[2][8] The global convergence of ADRC has been proved for a class of general multiple-input multiple-output systems.

[11] The primary objective of the tracking differentiator is to follow the transient profile of the reference signal, addressing the issue of sudden changes in the set point that occur in the conventional PID controller.