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Active Disturbance Rejection Control for DC Motor Laboratory Plant Learning Object^{†}

^{1}

Slovak University of Technology in Bratislava, Vazovova 5, 812 43 Bratislava, Slovakia

^{2}

Department of Systems and Control, J. Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia

^{*}

Author to whom correspondence should be addressed.

^{†}

This paper is an extended version of our paper published in the 2019 5th Experiment International Conference (exp.at’19), 12–14 June 2019, Funchal, Portugal.

^{‡}

These authors contributed equally to this work.

Received: 16 January 2020 / Revised: 6 March 2020 / Accepted: 7 March 2020 / Published: 12 March 2020

(This article belongs to the Special Issue Online Experimentation and the IoE)

The paper deals with learning objects for introductory modeling of simple dynamical systems and design of controllers with disturbance observer-based integral action. They can be used to illustrate the design process of state controllers, state and disturbance observers, as well as to get in touch with a popular approach called active disturbance rejection control (ADRC). In both cases, external disturbances along with errors resulting from model inaccuracies are reconstructed using the extended state observer (ESO). In addition to simulation and design of regulators and observers in Matlab/Simulink, the learning objects focus on the development of relevant terminology and competencies in the field of simulation, modeling and experimentation in traditional laboratories, with the support of LMS Moodle and remote control. The main innovativeness of the paper is to clarify the relationship of ADRC to the traditional state space controllers design and modeling by using two types of linear models approximating controlled nonlinear systems.