Analysis and Tuning of General Linear Active Disturbance Rejection Controllers

General linear active disturbance rejection control (LADRC) is studied in the paper. First, it is shown that there are some limitations in the conventional LADRC, and then some properties of general LADRC are analyzed. It is proved that any strictly proper controller with integration can be implemented via a general LADRC, thus extends the application range of LADRC. Finally, a method is proposed to tune the general LADRC using the same bandwidth idea as the conventional LADRC.