The thesis addresses active disturbance rejection control (ADRC). A short history, elements and features of the algorithm are presented. Furthermore, the design procedure and examples of ADRC control for a first order process are shown. Additionally, modifications of the algorithm with nonlinear controller and version for processes with dead time are presented.
Laboratory device Armfield PCT-13 (heat exchanger) is described along with design procedure of a control algorithm. A PI-controller with variable gain is designed for the aforementioned device. Both control algorithms were created in Matlab/Simulink simulation environment and are transferred to a Beckhoff CX5120 embedded computer through the TwinCAT development environment with automatic code generation. The setup of the used software environment is described in the appendix.
Comparison of ADRC control and PI-controller with variable gain is performed with signals, obtained by measurements on a laboratory device (heat exchanger).
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