Decoupled control scheme for output tracking of a general industrial nonlinear MIMO system using improved active disturbance rejection scheme

Abstract

Multivariable systems are broadly found in industrial processes with nonlinearities, uncertainties, and both input and state couplings. The basic idea to deal with such problems is to remove the input couplings, then estimating all other issues in an online manner followed be a rejection process. This challenge is presented in this research paper, where a decoupling control scheme is proposed based on the decoupler matrix and the Improved Active Disturbance Rejection Control (IADRC) paradigm. A theoretical analysis based on Hurwitz criterion followed by numerical simulations on a general industrial nonlinear, uncertain and highly coupled Multi-input Multi-Output (MIMO) system proved the validity of the proposed scheme in controlling such kinds of systems. Performance comparisons with the Conventional ADRC (CADRC) based decoupling control scheme are also included. Keywords: Active disturbance rejection, Decoupling control, Subsystem couplings, Extended state observer, Generalized disturbance