A robust two-degree-of-freedom control design technique and its practical application

This paper introduces a new robust two-degree-of-freedom (2DOF) control design technique that extends the concepts of active disturbance rejection control (ADRC) and proportional-integral-derivative (PID) control in new directions. The straightforward tuning of one or two parameters gives the technique its practicality. Together with ADRC, these techniques form a set of powerful design tools for direct use in industrial control applications. A method for controlling systems with finite zeros is also proposed. A simulation performed on an actual motion control platform provides verification and insight.