# Practical Active Disturbance Rejection Control: Bumpless Transfer, Rate Limitation and Incremental Algorithm

## TL;DR

This paper enhances active disturbance rejection control (ADRC) by introducing practical features like bumpless transfer, rate limitation, and an incremental algorithm, with detailed implementation guidelines and simulation demonstrations.

## Contribution

It extends discrete-time ADRC with new features for practical control applications, including bumpless transfer and rate limiting, providing detailed implementation guidance.

## Key findings

- Demonstrates effective bumpless transfer in ADRC.
- Shows improved control signal management with rate limitation.
- Validates features through simulation examples.

## Abstract

Practical applications of controllers often impose further requirements on the implementation beyond the actual control performance, such as the ability to switch between manual and automatic control or between different control laws or controller parameter settings, known as bumpless transfer. Another common requirement is to limit the control signal in magnitude and/or rate. This article examines and extends several discrete-time variants of active disturbance rejection control (ADRC), which is increasingly being applied especially in the field of power electronics and drives, in this regard. Detailed guidelines for practical ADRC implementations with these abilities are presented, and all features are being demonstrated with the help of simulation examples.