pyadrc’s Documentation

Active Disturbance Rejection Control for Python

A simple, yet powerful control method for when a PID controller just doesn’t cut it.

Features

• Discrete linear time invariant active disturbance rejection controller for digital control systems.

• First- and second-order ADRC in state-space, transfer function and minimum-footprint (FeedbackTF) form.

• For practical application - half-gain tuning, magnitude and rate limiter for actuator limitations

• Han’s tracking differentiator to shape reference signals and avoid setpoint jumps.

• User guide and/or theoretical background (for when you don’t have anything else to read).

• A first/second-order LTI model generator and a quadcopter altitude model for experimentation, testing and verification.

Installation

Installing pyadrc is really simple, just run this command in your terminal:

pip install pyadrc

or you can clone the repository and install it manually:

git clone https://github.com/onguntoglu/pyadrc
cd pyadrc
pip install .

Licence

pyadrc is licenced under the MIT Licence

Acknowledgements

None of this work would be possible without Gernot Herbst and his papers:

• Practical Active Disturbance Rejection Control: Bumpless Transfer, Rate Limitation and Incremental Algorithm

• A Simulative Study on Active Disturbance Rejection Control (ADRC) as a Control Tool for Practitioners

• Transfer Function Analysis and Implementation of Active Disturbance Rejection Control

• Half-Gain Tuning for Active Disturbance Rejection Control

• A Minimum-Footprint Implementation of Discrete-Time ADRC