Design of model-following control using a controller inversion technique with active disturbance rejection control

In this study, we explain and demonstrate a design method employing model-following control using a controller inversion technique with active disturbance rejection control. In the proposed method, active disturbance rejection control is applied to the system to eliminate dependence on plant parameters. We confirmed the robustness of the proposed method by inserting input-side disturbance and plant parameter deviations.