Active Disturbance Rejection Controller for Servo System Current Loop based on Linear Extended State Observer

Xiuwen Shan; Lixiang Sun; Yi Zhang; Hanpei Wei

doi:10.6919/ICJE.202603_12(3).0028

Active Disturbance Rejection Controller for Servo System Current Loop based on Linear Extended State Observer

Xiuwen Shan, Lixiang Sun, Yi Zhang, Hanpei Wei

International Core Journal of Engineering, (2026), Vol.12, No.3, pp.238-256

Published: March 19, 2026

DOI: 10.6919/ICJE.202603_12(3).0028

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Abstract

This paper first introduces the advantages of the active disturbance rejection controller and the standard active disturbance rejection controller model. The active disturbance rejection controller is applied to the current loop of the permanent magnet AC servo control system, and a current loop active disturbance rejection controller composed of a linear extended state observer and a state error feedback rate is designed. It is introduced into the current loop of the servo system for performance analysis. Secondly, in terms of dynamic response, improving the current feedback and updating the PWM duty cycle can enhance the dynamic performance. Finally, the anti-interference performance of the current loop in the AC servo system was analyzed. The experimental results verified the robustness of the new servo system current loop active disturbance rejection controller to motor parameter perturbation.

Keywords: Current Loop Active Disturbance Rejection Controller; Linear Extended State Observer; State Error Feedback Rate; Parameter Perturbation.

APA Citation: Xiuwen Shan, Lixiang Sun, Yi Zhang, Hanpei Wei (2026). Active Disturbance Rejection Controller for Servo System Current Loop based on Linear Extended State Observer. International Core Journal of Engineering, 12(3), 238-256. https://doi.org/10.6919/ICJE.202603_12(3).0028

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