Active disturbance rejection control (ADRC)

Active Disturbance Rejection Control (ADRC) @ UC MERCED MESA Lab


  • 04/23/2018. The 12th IEEE ADRC Workshop initial_program_ieee_12th_workshop_adrc.pdf  (ieee_12th_workshop_adrchui_zhi_biao_xing_ming_.doc)
  • 04/17/2018. The 12th IEEE Active Disturbance Rejection Control Workshop -- In Memory of Prof. Jingqing Han on the 10th Anniversary of His Passing. (Initial draft program, FO-ADRC panel info)
    • Organizers: Key Lab of Systems and Control, Chinese Academy of Sciences and National Center for Mathematics and Interdisciplinary Sciences, Chinese Academy of Sciences;
    • Co-Sponsored by the IEEE Control Systems Society (CSS) Beijing Chapter; Co-organizer: IEEE Control Systems Society (CSS) Beijing Chapter. 
    • Time: July 19-21, 2018.
    • Venue: Academy of Mathematics and Systems Science, Chinese Academy of Sciences
    • Contact Persons: Wenchao Xue(,15810081067
    • Registration: Free


  • Wiki page:
  • Han, Jingqing. From PID to Active Disturbance Rejection Control. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 56, NO. 3, MARCH 2009. (local PDF) (1186 citing papers)
  • FO-ADRC or ADRC for FOS papers:
    • Li M, Li D, Wang J, Zhao C. ISA Trans. 2013 May; 52(3):365-74. doi:0.1016/j.isatra.2013.01.001. Epub 2013 Feb 8. Active disturbance rejection control for fractional-order system. (Local PDF)
      • List of the 48 citing papers in Scopus (local PDF)
    • Dazi Li, Pan Ding, Zhiqiang Gao. Fractional active disturbance rejection control. ISA Transactions, Volume 62, 2016, pp. 109-119. (Local PDF)
  • Adam's paper on nonlinear PI control (local PDF). S. M. Shahruz, A. L. Schwartz. "Design and optimal tuning of nonlinear PI compensators" Journal of Optimization Theory and Applications, October 1994, Volume 83, Issue 1, pp 181–198
  • ADRC papers are among the top cited papers at ISA Trans. [local pdf]
  • Chen related patents
    • US06,437,936. 08/20/2002. “Repeatable runout compensation using a learning algorithm with scheduled parameters”
    • US06,563,663. 05/13/2003. “Repeatable runout compensation using iterative learning control in a disc storage system”
    • US06,574,067. 06/03/2003. “Optimally designed parsimonious repetitive learning compensator for HDDs having high track density” [PDF] [Local PDF]
    • US06,654,198. 11/25/2003. “Repeatable run-out error compensation method for a disc drive”
    • US06,661,599. 12/09/2003. “Enhanced adaptive feedforward control to cancel OPR disturbance by shaping the internal mode”
    • US06,690,534. 02/01/2004. “Method & apparatus for handling multiple resonance freq. in disc drives using active damping”.
    • US06,785,073. 08//31/2004 “Identification and cancellation of cage frequency in a hard disc drive”.
    • US06,831,804. 12/14/2004 “Method and apparatus for handling resonance effects in disc drives using active damping”.
    • US20010036026A1. Efficient sensorless rotational vibration and shock compensator for hard disk drives with higher TPI. (local PDF) Original patent disclosure and comparison report.
  • PID2018 Benchmark challenge
    • ADRC
    • LFFC
    • etc.
  • Fractional Horse Power Dynamometer experimental platform (paper), poster (PDF)
  • A.J. Muñoz-Vázquez, V. Parra-Vega and A. Sáncez-Orta (2015), Continuous fractional sliding mode-like control for exact rejection of non-differentiable Hölder disturbances, IMA Journal of Mathematical Control and Information. [local pdf] DOI: 10.1093/imamci/dnv064

Created 4/17/2018 by Prof. YangQuan Chen. Last  updated 4/17/2018 by Prof. YangQuan Chen.