====================== pyadrc's Documentation

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Active Disturbance Rejection Control for Python

A simple, yet powerful control method for when a PID controller just doesn't cut it.

Features

• Discrete linear time invariant active disturbance rejection controller for digital control systems.
• Implementation in state-space representation form of first- and second-order ADRC.
• For practical application - half-gain tuning, magnitude and rate limiter for actuator limitations
• User guide and/or theoretical background (for when you don't have anything else to read).
• A first/second-order LTI model generator and a quadcopter altitude model for experimentation, testing and verification.

Installation

Installing pyadrc is really simple, just run this command in your terminal:

.. code-block:: bash

    pip install pyadrc

or you can clone the repository and install it manually:

.. code-block:: bash

    git clone git://github.com/onguntoglu/pyadrc
    cd pyadrc
    python setup.py install

Licence

pyadrc is licenced under the MIT Licence

Acknowledgements

None of this work would be possible without Gernot Herbst and his papers:

• Practical Active Disturbance Rejection Control: Bumpless Transfer, Rate Limitation and Incremental Algorithm, https://arxiv.org/abs/1908.04610
• A Simulative Study on Active Disturbance Rejection Control (ADRC) as a Control Tool for Practitioners, https://arxiv.org/abs/1908.04596
• Transfer Function Analysis and Implementation of Active Disturbance Rejection Control, https://arxiv.org/abs/2011.01044
• Half-Gain Tuning for Active Disturbance Rejection Control, https://arxiv.org/abs/2003.03986
• A Minimum-Footprint Implementation of Discrete-Time ADRC, https://arxiv.org/abs/2104.01943