A rule of robust optimal parameter tuning of Active Disturbance Rejection Control based on second order plus dead time model approximation

In this paper, we propose a robust optimal parameter tuning rule for a second order Reduced Active Disturbance Rejection Controller (RADRC) in industrial processes that can be approximated by the Second Order Plus Dead Time (SOPDT) model. The robust optimal parameter tuning rule is derived so as to give the minimum Integral Absolute Error (IAE) and Integral Time Absolute Error (ITAE) values satisfying the constraints of desired stability margin and maximum sensitivity function value. Optimization problem with the strong nonlinear inequality constraints is solved using the Particle Swarm Optimization–Differential Evolution (PSO-DE) hybrid optimization algorithm. The validity of the proposed tuning rule is verified through simulations for some known benchmark processes with different dynamics and an experiment for the control of the booster turbine expander speed of an air separation unit.