An ESO of ADRC Parameter Setting Method Based on PSO

In view of the problems such as the numerous ESO parameters of active disturbance rejection controller (ADRC), its parameter setting difficulty and lack of experience for reference at the present stage, we proposed a PSO-based ESO parameter setting method for ADRC. This method organically combines the good robustness of ADRC with the high efficiency of PSO. Taking a second-order system as an example in a Matlab environment, the ESO parameter setting process of PSO was analyzed by setting appropriate fitness indexes. The results showed that the method could effectively improve ESO's estimation ability for the extended state and meet the performance requirements of the system.