Description:

pyadrc 0.4.1

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:
pip install pyadrc
or you can clone the repository and install it manually:
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

License

For personal and professional use. You cannot resell or redistribute these repositories in their original state.

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