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Analyses of four active disturbance rejection control based schemes for systems with time-delay

This paper analyzes four different active disturbance rejection control based schemes to deal with time-delay systems. Controller structures and algorithms are exhibited. Besides, open loop transfer function is obtained. Different delays and large range of time constant tests are conducted. According to Nyquist plot, the maximum allowable delays are obtained, which is also proved in time domain. Stability margin are achieved based on Bode diagrams.