espp/adrc

1.2.0

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uploaded 12 hours ago
Active disturbance rejection control (ADRC) component for ESP-IDF
Readme Dependencies 2 Dependents 0 Examples 1 Versions 9

Readme

# ADRC (Active Disturbance Rejection Control) Component

[![Badge](https://components.espressif.com/components/espp/adrc/badge.svg)](https://components.espressif.com/components/espp/adrc)

The `adrc` component provides reusable active disturbance rejection control
implementations for ESPP applications.

## Features

- Linear first-order ADRC
- Linear second-order ADRC
- Han-style nonlinear first-order ADRC
- Han-style nonlinear second-order ADRC
- Han tracking differentiator utility for smoothing references and estimating
  reference rate
- Thread-safe configuration and state updates

## Example

The [example](./example) shows how to use the ADRC classes against simulated
first-order and second-order plants with injected disturbances.

Links

Supports all targets

Maintainer

  • William Emfinger <waemfinger@gmail.com>

Tags

To add this component to your project, run:

idf.py add-dependency "espp/adrc^1.2.0"

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