Dr. Rubén Alejandro Garrido Moctezuma

This talk presents a study on the equivalence between a standard Weighted Proportional Integral Derivative (PID) controller and Active Disturbance Rejection Control (ADRC) based on Ohnishi’s Disturbance Observer (DOb), both aimed at control of servo systems. The equivalence produces tuning formulae for the PID controller as a function of the cut-off frequency of the filter employed in the DOb. It is also shown that the anti-windup scheme employed in some ADRC is equivalent to a classic back-calculation anti-windup scheme used in PID controllers. Some experiments show the performance of two servo systems, namely a DC and an ultrasonic motors under the tuning formulae obtained from the equivalence.