# US 2014/0195013 A1 · Extended active disturbance rejection controller > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195013 A1 - Document ID: US20140195013A1 - Status: Published application - Kind: A1 - Application number: 14/097,624 - Filed: 2013-12-05 - Published: 2014-07-10 - Earliest claimed: 2002-04-18 - Assignees: Cleveland State University - Applicants: Cleveland State University - Inventors: Zhiqiang Gao; Gang Tian - Web page: https://patentgrep.com/patent/US20140195013A1 ## CPC - G05B 13/048: {using a predictor} - G05B 5/01: electric - G05B 11/42: for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D. - G05B 13/02: electric - G06F 17/10: Complex mathematical operations {(function generation by table look-up G06F1/03; evaluation of elementary functions by calculation G06F7/544)} - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow. ## Claims ### Claim 1 A system for controlling velocity of a plant, comprising: a first order state space model comprising a velocity value, v(t), where v(t) equals the sum of f(t) and b*u(t), f(t) represents the combined effects of internal dynamics and external disturbance of the plant, u(t) is a control signal, and b is a constant to an approximate value; a linear extended state observer, which is a function of a single performance parameter, for estimating the value of f(t); and a monitor adapted to cancel the effect of f(t) on the velocity value by an estimate from the linear extended state observer. ### Claim 2 (depends on 1) The system of claim 1, where the plant is a web processing system. ### Claim 3 (depends on 2) The system of claim 2, where the velocity value comprises at least one of a carriage roller velocity, an exit-side roller velocity, and a process-side roller velocity. ### Claim 4 A multiple-input, multiple-output controller for controlling a system, comprising: a discretized system model describing one or more distinct states, where each input has a distinct output and disturbance; an extended state estimator implemented in a computer component that receives a signal from a sensor that is operably connected to the system; and at least one correction term in the extended state estimator, where the at least one correction term is determined as a function of a single tuning parameter and the at least one correction term and the signal estimates system states and extended states of one or more orders. ### Claim 5 (depends on 4) The multiple-input, multiple-output controller of claim 4, where the number of inputs is greater than or equal to the number of outputs. ### Claim 6 (depends on 4) The multiple-input, multiple-output controller of claim 4, where the number of inputs and the number of outputs are the same. ### Claim 7 (depends on 4) The multiple-input, multiple-output controller of claim 4, where the number of outputs is three. ### Claim 8 (depends on 4) The multiple-input, multiple-output controller of claim 4, where the controller is implemented as a plurality of single-input, single-output controllers. ### Claim 9 (depends on 4) The multiple-input, multiple-output controller of claim 4, where the system is a turbofan. ### Claim 10 (depends on 4) The multiple-input, multiple-output controller of claim 4, where the system is one of a chemical process system, a mechanical process system, or an electrical process system. ### Claim 11 (depends on 4) The multiple-input, multiple-output controller of claim 4, where the system is one of a chemical process system, a flight control system for an airplane, a flight control system for a missile, a CNC machine control system, a robotics system, a magnetic bearing system, a satellite attitude control system, or a process control system. ### Claim 12 A control system for a plant, comprising: a plurality of active disturbance rejection controllers; and a high frequency gain matrix implemented in an electronic device for receiving at least one input signal from each of the plurality of active disturbance rejection controllers and for producing a plurality of control signals u, where the plant receives the plurality of control signals u and produces a plurality of output signals y, each of said plurality of output signals further provided as an input to at least one of the plurality of active disturbance rejection controllers. ### Claim 13 (depends on 12) The control system for the plant of claim 12, where the high-frequency gain matrix is a single gain matrix ### Claim 14 (depends on 12) The control system for the plant of claim 12, where the high-frequency gain matrix comprises a plurality of matrices with a one-to-one association between each input signal and each control signal. ### Claim 15 (depends on 12) The control system for the plant of claim 12, where the plant is a turbofan. ### Claim 16 (depends on 12) The control system for the plant of claim 12, where the plant is one of a chemical process, a mechanical process, or an electrical process. ### Claim 17 (depends on 12) The control system for a plant of claim 12, where the plant is one of a chemical process, an airplane flight control, a missile flight control, a CNC machine control, a robotics control, a magnetic bearing, a satellite attitude control, or a process control.