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On the Enhanced ADRC Design with a Low Observer Bandwidth

Jason Tatsumi and Zhiqiang Gao

Center for Advanced Control Technologies, Cleveland State University, Cleveland, United States
E-mail: j.tatsumi@csuohio.edu, z.gao@ieee.org

Abstract: In this paper, the extended state observer (ESO) is brought into the frequency domain to show to what degree it forces
the plant to behave like cascaded integrators and what can be done to improve the performance when the ESO is bandwidth
limited. In particular, a root locus technique is used to show how the poles of the modified plant change as the ESO bandwidth
increases. Based on the insight obtained, three correction techniques are explored to improve the system performance for those
applications with a low ESO bandwidth. With these proposed techniques, the closed-loop system bandwidth is no longer as
severely constrained by the ESO bandwidth as in the original ADRC.
Key Words: Active disturbance rejection control, extended state observer, root locus, observer bandwidth, loop-shaping.

1 Introduction could help us design better compensation accordingly, for

A great challenge in the field of automatic control is to
make a physical system invariant amid the constant changes
in the environment. Often, these changes are unknown and
impossible to measure; other times their effect upon the
system is too complicated for the control system to adapt in
a reasonable amount of time. This challenge has led to the
invention of observers that can estimate an unknown
disturbance so that it can be mitigated at its inception. The
disturbance observer (DOB), unknown input observer
(UIO), and perturbation observer (POB) are all designed for
such purpose, under various assumptions about the plant
and disturbance information [1].
In addition, the extended state observer (ESO) is also one
such observer, estimating the disturbance and states based
on the input and output data from the plant [2]. By
estimating both the unknown dynamics and external
disturbance and cancelling them with the control signal, the
modified plant is reduced approximately into cascaded
integrators for which the task of control design is greatly
simplified. This unique combination of ESO and the use of
feedback and observer gains, together with a mechanism of
generating desired transient trajectory, constitute active
disturbance rejection control (ADRC) [3-5], which was
further simplified and streamlined for industrial use in [6]. A
general form of the parameterized ESO was given in both
continuous and discrete forms [7] and its limitations due to
sensor noise, sample rate, and stability issues were discussed
in [6-8].
For better understanding and continuous innovations in
ADRC, this paper seeks to take advantage of the very
powerful insight found in classical control theory, such as
Nyquist’s stability criterion, Bode’s frequency response
method, and the root locus method [9]. In fact, such work
has already started, beginning with converting the entire
ADRC design into a typical two-degree-of-freedom closed
loop system structure where loop gain frequency response is
used to show robustness in the presence of parametric
uncertainties [10].
The root locus design technique from classical control
[10-11] offers a unique method to observe how the poles of
the modified plant in ADRC move as a system parameter
(bandwidth) varies, providing useful information on the
dynamics of the modified plant. This information in turn
the purpose of enhancing system response in ADRC.
We are particularly interested in those applications where
the observer bandwidth is relatively low compared with the
plant dynamics, which limits the ability of ADRC to
accommodate uncertainties. In such cases, we believe, a
rough model of the plant can be used to enhance the system
performance and there are many existing methods that can
be used for this purpose, as discuss below.
It was discovered that PID controllers could be tuned with
the knowledge of the gain and the frequency of oscillation
when the loop is continuously cycling [12]. This leads to the
relay tuning method where the plant is forced to
continuously oscillate by using a relay controller [13]. By
conducting a series of tests using relay tuning, several forms
of plant models can be discovered with the knowledge of
dead time and steady-state gain [14], knowing only
steady-state gain [15], and with no a priori information at all
[16]. The technique was improved to discover plant models
using only a single test [17].
As alternatives to relay tuning, plant information can be
discovered from the frequency response to sinusoidal
excitations of various frequencies [18]. These techniques
are expanded to using other periodic and non-periodic
signals [19] and to deal with the presence of noise and
disturbances [20]. Likewise, the frequency response can be
estimated in real time by an adaptive least-mean-square
(LMS) filter that generates coefficients of a high-order,
finite impulse response (FIR) filter as the plant model [21].
Based on an approximate model of the plant and the
classical root locus method, a technique is proposed in this
paper to show where the poles of the modified plant in
ADRC are within the given range of the ESO bandwidth.
Furthermore, based on the insight obtained, three correction
techniques are explored to enhance the performance of
ADRC with low ESO bandwidth.
This paper is organized as follows. In Section 2, the
transfer function that approximates cascaded integrators will
be given in the general form. Section 3 demonstrates how
poles of the modified plant in ADRC move as observer
bandwidth increases. Three correction techniques are given
in Section 4 for the enhancement of ADRC performance
with low ESO bandwidth. Finally, some concluding remarks
are given in Section 5.

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 2 Transfer Function of the Modified Plant
In the framework of ADRC, the internal and external 1 sn
 fˆ ( s ) u (s)  y(s)  
disturbances, collectively denoted as f in (1) where b is the  s / Zo  1
n 1
 s / Zo  1
n 1

gain, u is the input and y is the output, are estimated and

cancelled in real time.
 y (n) bu  f   Then the modified plant, i.e. the transfer function from u0
to y, can be shown as
fˆ , the estimation of f, approaches the actual value at a rate G p ( s )b0 1
y(s)
determined by the bandwidth of the ESO. When such G p (s) 
u0 ( s ) G p ( s )b0 1 s n  1 
bandwidth is high, fˆ | f and the control law,  1 n 1
 s / Zo  1
u (u  fˆ ) / b , with b | b , reduces the plant to a cascade
0 0 0
Note that the denominator contains a low-pass filter of
integrator of order n, i.e. y ( n ) | u0 . order n+1 with a corner frequency of Ȧo. If this is imagined
In this paper we are concerned with a more delicate case as an ideal filter, where it acts as unity gain at and below the
when the bandwidth of ESO is quite limited, posing the corner frequency but zero gain above it, the frequency
question of what becomes of the modified plant and how do response of (6) can be expressed as (7).
we best compensate for the lack of high bandwidth in the ­ 1
ESO? We approach such problems from the frequency ° n
, Z  Zo
domain, assuming for now that the plant is represented by a
transfer function Gp(s). And we concentrate on the part of
the ESO in the estimation of f, as shown in Fig. 1, where the
ESO is respectively represented by the transfer functions
from u to fˆ and y to fˆ (denoted as Fu and Fy, respectively).
For the sake of brevity, we start with n=2 before we give the
general case.
G p ( jZ ) | ®  jZ   
 °G ( jZ )b 1 , Z !! Z
¯ p 0 o
It can be seen from (7) that the modified plant acts as
perfect integrators of order n within the bandwidth of the
observer. At high frequencies, it will instead follow the
response of the plant. It can be assumed that if an infinite
bandwidth could be selected in an ideal world without noise
or sampling, then the plant would indeed act as a perfect
integral of order n regardless of Gp. By rearranging (6) as (8),
the transition from the desired integral form at low
frequency to the original plant at the high frequency can be
captured by the transfer function of G p ( s ) in the form of (8),
where a low-pass filter shapes the plant into the integral
form at low frequency and a high-pass filter shapes the plant
at high frequency.
1 
G p (s) n 1
Fig. 1: Single integral plant acting as double integral  ª 1 º ª  s / Zo  1  1 º 
sn « n 1 »
 G p 1 ( s )b0 « n 1 »
«¬  s / Zo  1 »¼ «¬  s / Zo  1 »¼
By assigning all eigenvalues of the A matrix to Ȧo,
denoted as the observer bandwidth, the process of selecting
gains in ESO becomes one of simply tuning Ȧo [6]. For n=2, 3 Pole Movements in as Ȧo Increases
the third order parameterized ESO is
As Ȧo is tuned, the poles and zeros, as well as the shape of
ª º ª ºª ºª ºª º 
« xˆ1 » « 3Zo 1 0 » « xˆ1 » «0 3Zo » « u » the frequency response of G p ( s ) , change with it. There are
 «  » « 3Z 2 0 1 » « xˆ » «1 3Z 2 » « y »  2n+1 poles, n of which should be approximately located at
o ¬ ¼
« xˆ2 » « o
»« 2» « »
« xˆ » ¬« o Z 3
0 0 ˆ
x
¼» ¬« 3 ¼» ¬« 0 Z 3
»
o ¼
the origin when Ȧo is relatively high. What we want to know,
¬ 3¼ however, is where the poles go when Ȧo is changed from
which can be converted to transfer function form in Fig. 1 as low to high and this can be determined using the traditional
fˆ ( s ) 1 Zo3 root locus method with Ȧo as the design parameter.
ª º  sI  A  ª º 3
 Let N and D represent the numerator and denominator of
u ( s ) «¬0 0 1»¼ « 0 »  s  Zo  Gp(s)b0-1 where Gp is a linear, time-invariant (LTI) function
 «1 » 
« » so that (6) can be rewritten as (9). The zeroes of (9) contain
¬«0 ¼» the zeroes of Gp(s) as well as having n+1 zeroes at -Ȧo.
n 1
fˆ ( s ) 1 s 2Zo3 N  s / Zo  1
ª º  sI  A  ª º  G p (s) n 1
 
y ( s ) ¬«0 0 1¼» « 3Zo »  s  Zo 
3
 Ns n  D ª s / Zo  1  1º
  ¬ ¼
«3Z 2 »
« 3o » The movement of the poles of (9) is determined by
«¬ Zo »¼ evaluating the denominator as Ȧo changes. Note that the
For the general case, it can be similarly shown that [(s/Ȧo+1)n+1-1] term will always contain an s term. That is,
G p ( s ) has at least one pole at the origin, plus any poles at the

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 origin from the plant Gp(s), since the poles at origin of Gp,
will add to the power of s in D[(s/Ȧo+1)n+1-1]. It can be seen
from (9) that as Ȧo approaches infinity, G p ( s ) will have a
total of n poles at the origin, making it an ideal cascade
integral plant, while the additional n+1 poles exist but their
effect on the system response is negligible. On the other
hand, when Ȧo is zero, the equation in (5) becomes zero
which can be simplified to (10).
paths bend faster toward the negative real axis. This can be
seen in (13) where values of b / b0 less than one will cause
the positive Ȧo2 term to overcome the negative Ȧo term at
higher observer bandwidths and cause the square root to
become real. As the value of b / b0 becomes larger, the
imaginary component of s will grow with Ȧo much faster
than the real component.
a a2 § b · 2
 G p ( s ) G p ( s ) / b0   s   Zo r  aZo  ¨1  ¸ Zo  
 2 4 © b0 ¹
The following sections will explore what happens in the
middle, between the two extreme cases.

3.1 First-order System

Consider a simple first-order plant b0/(s+a0) with a
second-order ESO. Then the denominator of (9) becomes
ª 1 § 2 a0 · § 2a0 ·º
s « 2 s2  ¨  2 ¸s ¨  1¸ »  
 ¬« Zo © Zo Zo ¹ © Zo ¹ ¼»
which indicates that one pole will remain at the origin
regardless of the value of Ȧo and two poles will move as the
Ȧo changes, in the manner of
a0 a2
s2,3   Zo r 0  a0Zo  
 2 4
The movements of these poles are shown graphically in
the root locus plot of Fig. 2, where the observer bandwidth is
varied between 0 and whatever value that causes one of the
poles to reach a radius of 10 from the origin. The starting
pole values were marked with an “X”. As seen in Fig. 2,
three poles do begin at -3, 0 and 0, one stays put at 0, two
moves towards each other and meet at -2.25, and then leave
the real axis while continuously moving left.
Fig. 3: Closed loop poles for the 1st order plant with a varying b0
3.2 Second-order System
When the plant is second order and the ESO third order,
G p ( s ) has a total of five poles. However, the root locus
techniques used for the first-order system still apply. At Ȧo =
0, we begin with three poles at the origin in addition to the
two poles from the plant. Out of five total poles, two are
either moving toward or remaining at the origin whereas the
other three are moving further to the left. For the plant
transfer function of the type
Zn2
 G p (s)  
s 2  2]Zn s  Zn2
with Ȧn =1 and 0.25 < ȗ < 1.5 the poles of G p ( s ) are shown
in Fig. 4 as Ȧo increases. As in the first-order example, the
results will scale with Ȧn. The figure shows that two poles
leave the origin and become complex conjugate poles; on
the real axis, one pole stays at the origin, another pole moves
slowly from -3 toward the origin whereas the third pole
Fig. 2: Closed loop poles for the 1st order plant as Ȧ varies started at -3 and moves toward negative infinity.
This pattern is the same for any stable first-order plant. If
Gp is unstable (i.e. a0<0), the poles of G p ( s ) will remain on
the real axis. Solving (12) for s=0, the solution is Ȧo=-2a0,
which is the lower bound of Ȧo for G p ( s ) to be stable. As the
bandwidth increases, both poles move to the left on real
axis.
Next, we discuss the case when there is a mismatch in b0.
If an estimated value is chosen that doesn’t match the actual
value of b, the paths of the poles in motion will change.
Using a simple first-order model where Gp is 1/(s+1) and
varying b0 estimation to be different from its actual value of
1, the effects are shown in Fig. 3. Fig. 4: Closed loop poles for the 2nd order plant as Ȧ varies
As b0 becomes larger than b, the paths bend to the right As b0 varies from b, the paths of the two poles moving
and approach vertical lines. As plant gain decreases, the away from the origin will change as shown in Fig. 5. Using a

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 plant model of 1/(s+1)2, and changing the ratio between the
actual b and its estimate b0, several plots were generated to
demonstrate this movement. It tells us that it preferable to
make b0 larger than the actual value, because when the
estimation is lower than the actual gain, the paths of poles
bend towards right half plane.
4 Enhanced ADRC Design
Given the insight obtained in the last section, we explore
different methods of compensation for the modified plant to
make it closer to the ideal integral plant, for low Ȧo.
4.1 Slow Pole Correction
Each of the second-order examples from section 3 show
that one pole remains at the origin while a second one
approaches it. This would indicate that at low Ȧo, the
modified plant has only one integrator instead of two. One
possible remedy would be to add an integrator in the
controller but, as it turns out, this tends to move poles
vertically and make the modified plant oscillatory. A better
solution is a PI type compensator in the form of
sz
Fig. 5: Closed loop poles for the 2nd order plant with a varying b0
3.3 Summary of Rules for the Pole Movement
By monitoring how the poles of the modified plant move,
it can be better understood how ADRC forces the plant to
behave like cascaded integrators. The information about the
imperfection can be used in the control design to better
accommodate the remaining dynamics beyond the cascaded
integrators.
Using the root locus method from the classical control
theory, a technique is developed here to demonstrate where
 CN ( s)  
b0 s
where its pole adds the needed additional pole at the origin
and its zero cancels out the effect of the slow moving pole in
G p ( s ) . The root locus plot still has four moving poles as
before. However, one of them approaches the added zero at
–z, negating its effect; three of the poles move leftward,
which leave two poles at the origin.
As an example, a simple second-order process is chosen
with both natural frequency and damping factor equal to one
and the slow pole correction of the form of (15) is used. A
reference step of amplitude 1 is provided with an input
disturbance step of 0.1 comes in at t=40 seconds. ADRC is
tuned such that Ȧo DQGȦc are set to 1 rad/s.
sz 10
 CN ( s)  G p ( s )  
the poles of the modified plant will be located as the 10 s s 2  2s  1
observer bandwidth is tuned. Examples are shown for first In the ADRC based control system for 2nd order plant, the
order and second order plants. However this technique can control law is given in the form of
be applied to more complex transfer function models as
well.
Several general rules have been identified that are
applicable for any nth order LTI plant with parameterized
ADRC. Let n be the order of the plant, n+1 the order of the
ESO, and m defined as one plus the number of poles at the
origin in the plant, we have the following observations on
the modified plant:
x Zeros are those of the plant plus n+1 additional zeros
at -Ȧo
x Total number of poles is 2n+1
x Number of poles always at origin is m
x Number of poles moving toward origin is n-m
x Number of poles moving away from origin is n+1
x The root locus begins at plant poles and the origin
To improve the system performance, it is shown in the
next section that a compensator, in the PI form, can be
placed between the controller and the modified plant, thus
ensuring that there are always be two poles at the origin.
By monitoring the pole locations of the modified plant, it
can be seen how the change in observer bandwidth affects
its characteristics. There is no doubt that such information
will be beneficial in further improve ADRC design, as
shown in the next section.
 u0 Zc2  r  z1   2Zc z2  
where z1 and z2 are the estimated output and its derivative
provided by the ESO. The output response for the controller
in (16) is shown in Fig. 6 and compared with ADRC without
the slow pole correction. Selection of z was varied between
0.5 and 4. As expected, the slow pole correction improved
the response markedly at the expense of increased overshoot.
Performance was best when z=2 due to fastest settling time
and least amount of overshoot. Further increase in z resulted
in significant oscillation.
Fig. 6: ADRC Response with the Slow Pole Correction
4.2 Inverse Correction
In order to compensate for the discrepancy between the
modified plant and its ideal form, another correction using
the inverse of the modified plant is explored. The idea is to
cancel all poles and zeros of the modified plant and replace
its poles with those at the origin. This of course assumed that
the approximate plant transfer function is given. Even when

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 the actual plant is different from but close to it, this method Several compensators may be cascaded together to provide
still appears to be useful in improving the system phase lead greater than ʌ IRU VWDELOLW\ LQ KLJKHU RUGHU
performance. After all, this is the remedy for the ADRC systems.
design where Z0 is limited and the performance needs s tan  0.5T  0.25S   Zc
improvements.   H (s)  
s cot  0.5T  0.25S   Zc
From (6), the inverse correction can be formulated as a
proper transfer function of the form The result is subtracted from the reference and multiplied
by the gain correction in (20) to force the response cross
§1·
CIC ( s ) G p1 ( s ) ¨ n ¸ unity-gain at Ȧc.
©s ¹
1  cot 2  0.5T  0.25S 
 1 1 § 1 ·   C ( s ) Zcn  
 ¨1  ¸ 1  tan 2  0.5T  0.25S 
 s / Zo  1
n 1
G p s ¨©  s / Zo  1 ¸¹
n n 1
 improvement in tracking and disturbance rejection, where
which is in the form of the inverse of G p ( s ) times the
desired transfer function of the cascade integrators.
Fig. 7: ADRC Response with the Inverse correction
The effect of this compensation is shown in Fig. 7. This
example uses the same process model and bandwidths as
used in section 4.1. When using the control law in (17), only
a slight improvement over regular ADRC is observed.
However, a considerable performance increase can be
obtained when the estimated states z1 and z2 in (17) are
replaced with y and dy/dt respectively.
4.3 Loop-shaping Design
In the previous ADRC design, it is taken for granted that
the modified plant approximates the cascade integrators of
the corresponding order and it can be controlled adequately
by a PD type of control design. The two corrections
suggested above, the slow pole correction and the inverse
correction methods, attempt to stay within this framework
by making the modified plant close to its target, so that the
same controller of the PD type can be used without
modifications.
But there is another way to go about it: replacing the PD
type of control law with the more powerful loop shaping
design to accommodate, instead of correct, the
imperfections in the modified plant. This way, the task of
making the system robust and disturbance rejection
satisfactory is shared between the controller and the ESO.
In order to provide high gain at low frequency and low
gain at high frequency, a loop-shaping controller can be
used in place of the PD as long as there is enough phase lead
at the corner frequency to ensure stability. When the
modified process can been corrected to imitate a double
integral plant, a lead compensator is necessary. Likewise, a
gain correction is needed to shift the corner frequency to a
desired value.
The necessary phase lead can be generated by feeding the
actual process output into the lead compensator in (19)
displacing a phase of șOHVVWKDQʌ/2) at the frequency Ȧc.
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As seen in Fig. 8, the loop-shaping controller provides an
loop shaping is combined with slow-pole correction (Loop
shaping 1) and with inverse correction (Loop shaping 2).
7HVWLQJZDVGRQHZKHUHș ʌ/4 using the same bandwidths
and process model as the previous sections, even though, in
both cases, the closed-loop bandwidth Zc is no longer tied to
the ESO bandwidth as in the original ADRC, as is shown in
the next section.
Fig. 8: ADRC Response with Loop-Shaping
4.4 Comparison
In this section, by comparing the control and output
signals, the degree of improvement to ADRC is assessed for
the proposed methods described above. With a small
amount of white noise added to the process output
measurement, all techniques were evaluated in terms of
performance and noise sensitivity.
Fig. 9: Output signal comparison (Ȧc=1)
First we keep the controller and ESO bandwidth the same
for all methods and compare the performance, as shown in
Fig. 9, where the inverse correction using actual output
appears to be the best. Unfortunately, this design is very
susceptible to noise encountered in the output signal due to
the differentiation. Therefore, a better choice may be the
combination of loop shaping and inverse correction. It is
rather reasonable and understandable because this design is
the most complicated one, requiring the inverse of the
modified plant as well as the phase lead angle in the loop
shaping design to be given. The slow-pole correction
technique alone provides a fairly good performance
improvement while maintaining the simplicity in design.
 Adding the loop-shaping controller to the slow-pole
correction method appears to achieve minimal (if any)
improvement in performance. Fig. 10 shows the control
signals of the original ADRC and inverse method lag behind
and that of the loop shaping with the inverse method
produces a rather smooth and desirable curve, indicating
that overall it seems to be the best solution in both
performance and the quality of control signal. A more
rigorous performance index can be used to quantify such
assessment in the near future.
Fig. 10: Control signal comparison
Next, these methods were tested with faster controller
bandwidths to see how they would perform. The inverse
correction using estimated states traces the same response as
basic ADRC and is not included in the results. Bandwidth
was tested at 10 rad/s and 100 rad/s (shown in Fig. 11 and
Fig. 12 respectively). System response obviously becomes
much faster, so the disturbance is introduced at earlier times
(t=4 and t=0.4 seconds, respectively) and is increased
significantly (di=1/s and di=25/s). The inverse correction
using actual output and both loop shaping methods show
performance and disturbance rejection that is reasonable
with the faster selection of Ȧc. The inverse correction using
actual output is the best performer regarding tracking and
disturbance rejection, although it can only be used in
situations with very little noise. The methods that use the
estimated states are hindered by the low ESO bandwidth,
which makes its estimated states too slow to be useful for
good transient response, even though it still cancels out the
disturbance at low frequency range and ensures the zero
steady state error.
Fig. 11: Output signal comparison (Ȧc=10)
Fig. 12: Output signal comparison (Ȧc=100)
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5 Concluding Remarks
In this paper, the root locus technique is creatively used to
show the pole movement of the modified plant as the ESO
bandwidth increases. This information stimulated the
development of three correction techniques to enhance the
ADRC performance, operating under low ESO bandwidth.
Significant improvements in performance were obtained
with the proposed approach, providing several solutions to
make the control loop bandwidth in ADRC no longer
limited by the ESO bandwidth. The initial simulation studies
show promise but more work lies ahead to continue to
improve the techniques and to validate them in those
applications where the bandwidth is severely limitted.
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