This paper presents an adaptation of the Active Disturbance Rejection Control (ADRC) method within the fractional calculus context. This ADRC version is characterized by a single active cancellation of the lumped effects of all the unmodeled dynamics, external disturbances and parameter uncertainty associated with the linear model of commensurate fractional order. This methodology proposes suitable simplifications to fit the resulting system to one of appropriate commensurate fractional order. The design is reduced to a linear observer-based control of fractional order that estimates the unified disturbance. A numerical stability analysis is presented to quantify the tracking and estimate errors bounds and provide guidelines in the parameters of observer-based controller configuration. The proposed control strategy is experimentally validated in linear and nonlinear cases of fractional order by means of approximate analog implementations.

本文提出了分数微积分环境下的主动干扰抑制控制（ADRC）方法的一种适应方法。该ADRC版本的特征在于，与相应的分数阶线性模型相关联的所有未建模动力学，外部干扰和参数不确定性的集总效应均被单个主动消除。该方法提出了适当的简化，以使所得系统适合于适当的分数阶之一。该设计简化为基于分数阶线性观测器的控件，该控件可估计统一干扰。提出了数值稳定性分析，以量化跟踪和估计误差范围，并为基于观察者的控制器配置的参数提供指导。