During the last two decades, there have been numerous and varied applications for active disturbance rejection control (ADRC). The theoretical research lags, however, behind these applications. This book serves as an introduction of ADRC from the theoretical perspective in a self-contained way. In Chapter 1, some basic background information on nonlinear uncertain systems is introduced. Chapter 2 presents the convergence of the different kinds of tracking differentiators (TD). Chapter 3 is devoted to the convergence of the extended state observer (ESO) for various nonlinear systems. These two chapters can be considered as independent parts of the book. Finally, in Chapter 4, we present the convergence of the ADRC closed loop system based on TD and ESO. This can be considered as the separation principle of ADRC for uncertain nonlinear systems. Numerical simulations are presented to illustrate the applicability of ADRC. The active disturbance rejection control (ADRC) approach presented in this book is a completely different robust control method which offers a new and inherently robust controller building block that requires very little information of the plant. The estimation/cancelling nature of ADRC makes it very special in the sense that the control energy can be reduced significantly compared with another traditional control approach, PID (proportional-Integration-Differentiation) that has dominated control engineering for a century. The ADRC inherits the nature of PID that is independent of mathematical models and takes after its advantages of small overshooting, fast convergence, and energy savings. The authors believe that ADRC could be a suitable replacement of PID control in the next wave of control engineering.

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