Abstract An equivalence is established between Extended State Observer (ESO) based Active Disturbance Rejection Control (ADRC) and Flat Filter (FF) controllers in the context of perturbed pure integration systems. These are known to constitute a most convenient paradigm for the control of SISO flat nonlinear systems. It is shown that a Reduced Order ESO (ROESO) based ADRC strategy has a unique equivalent Flat Filter counterpart. The reverse statement is not generally true. This equivalence is experimentally demonstrated to be an useful, practical, feature in FF controller design for the linear control of nonlinear flat systems.

中文翻译：

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基于 ADRC 和平面滤波器的控制器之间的等效性：一种频域方法

摘要 在扰动纯集成系统的背景下，建立了基于扩展状态观测器（ESO）的有源抗扰控制（ADRC）和平面滤波器（FF）控制器之间的等价关系。众所周知，这些构成了控制 SISO 平坦非线性系统的最方便的范例。结果表明，基于降阶 ESO (ROESO) 的 ADRC 策略具有独特的等效平面滤波器对应项。相反的说法通常不正确。实验证明，这种等效性是非线性平面系统线性控制的 FF 控制器设计中的一个有用的、实用的特征。