pyadrc's Documentation
Active Disturbance Rejection Control for Python
A simple, yet powerful control method for when a PID controller just doesn't cut it.
Features
- Discrete linear time invariant active disturbance rejection controller for digital control systems.
- First- and second-order ADRC in state-space, transfer function and minimum-footprint (FeedbackTF) form.
- For practical application - half-gain tuning, magnitude and rate limiter for actuator limitations
- Han's tracking differentiator to shape reference signals and avoid setpoint jumps.
- User guide and/or theoretical background (for when you don't have anything else to read).
- A first/second-order LTI model generator and a quadcopter altitude model for experimentation, testing and verification.
Installation
Installing pyadrc is really simple, just run this command in your terminal:
pip install pyadrc
or you can clone the repository and install it manually:
git clone https://github.com/onguntoglu/pyadrc
cd pyadrc
pip install .
Licence
pyadrc is licenced under the MIT Licence
Acknowledgements
None of this work would be possible without Gernot Herbst and his papers:
- Practical Active Disturbance Rejection Control: Bumpless Transfer, Rate Limitation and Incremental Algorithm
- A Simulative Study on Active Disturbance Rejection Control (ADRC) as a Control Tool for Practitioners
- Transfer Function Analysis and Implementation of Active Disturbance Rejection Control
- Half-Gain Tuning for Active Disturbance Rejection Control
- A Minimum-Footprint Implementation of Discrete-Time ADRC
1 maintainer
Metadata
1 maintainer
Release files for pyadrc 0.6.0
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Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| pyadrc-0.6.0.tar.gz | 106.0 kB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| pyadrc-0.6.0-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 118.9 kB
Release files / pyadrc-0.6.0.tar.gz
| Download URL | pyadrc-0.6.0.tar.gz |
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| Size | 106.0 kB |
| Tags | Source |
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| Size | 12.8 kB |
| Tags | Python 3 |
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