Tuning rules for industrial use of the second-order reduced active disturbance rejection controller

In the paper, problem of proper tuning of second-order Reduced Active Disturbance Rejection Controller (RADRC2) is considered in application for industrial processes with significant (but not dominant) delay time. For First-Order plus Delay Time (FOPDT) and Second-Order plus Delay Time (SOPDT) processes, tuning rules are derived to provide minimal Integral Absolute Error (IAE) assuming robustness defined by gain and phase margins. Derivation was made using optimization procedure based on D-partition method. The paper also shows results of comprehensive simulation validation based on examplary benchmark processes of more complex dynamics as well as final practical validation. Comparison with PID controller shows that RADRC2 tuned by the proposed rules can be practical alternative for industrial control applications.