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An efficient discrete form of active disturbance rejection controller

A novel efficient discrete form of the active disturbance rejection control (ADRC) algorithm is presented. The total amount of the options in the ADRC algorithm is reduced by introducing an equivalent form of the Euler discretization of ADRC. Then the original and the efficient discrete forms of ADRC are compared in the simulation experiments of nine different plants. With the new algorithm, the CPU time consumed by the controller decreases by an average of 15.37 percent, and the closed-loop performances are not degraded at all.