The work proposes a special form of an active disturbance rejection control (ADRC) structure, dedicated to a class of positive systems. The positivity of the plant is taken into account in the modified version of ADRC, making this scheme applicable to such systems. The validity and the effectiveness of the proposed ADRC design are first tested in simulations and then in experiments, conducted on a laboratory-scale model of an automatic water supply system. The results are compared with the performance of a sole industrial off-the-shelf PI controller, which is an usual choice for such systems.
['Rafal Madonski', 'M. Nowicki', 'Przemyslaw Herman']
Practical solution to positivity problem in water management systems - an ADRC approach