A Real-Time Comparative Analysis of Fractional-Order and Internal Model Control-Based Active Disturbance Rejection Techniques for Electromechanical System

Abstract This paper presents an experimental comparison of the active disturbance rejection control (ADRC) strategies. In this line, linear ADRC (LADRC) with a fractional-order observer and internal model control (IMC)-based LADRC are designed for the electromechanical system. The system requirements for the design steps are discussed, and the parameterization methods of the control algorithms are investigated. Moreover, the effect of control parameters on system performance is analyzed. In this respect, the present study guides researchers in designing and analyzing ADRC schemes using real-time experiments.