A critical analysis of ADRC structures: A structurally fair simulation benchmark against internal-model-based feedback–feedforward control systems
Year: 2026
Type: article
Abstract: Active Disturbance Rejection Control (ADRC) is often reported to outperform classical PI/PID-based control in disturbance-rejection tasks, but such conclusions are frequently based on structurally unbalanced comparisons. In many studies, a two-channel ADRC architecture is benchmarked against a single-loop feedback controller, although the two structures do not offer the same degree of freedom in shaping reference and disturbance responses. This paper proposes a structurally fair comparison between ADRC and an internal-model-based feedback–feedforward (FBFF) architecture relevant to process-control design.A unified synthesis framework is developed for both structures, explicitly identifying the correspondence between the state-feedback and feedforward channels, and between the observer-based and feedback channels. The framework is then applied in simulation studies for first- and second-order plants subjected to disturbances, parameter variations, structural uncertainty, and time delay.The results indicate that, under comparable structural assumptions, FBFF can achieve control performance comparable to, and in several cases exceeding, that of ADRC in both setpoint tracking and disturbance attenuation. They also indicate that ADRC is sensitive to the assumed gain coefficient and plant order. Overall, the findings suggest that the frequently reported advantage of ADRC arises primarily from its two-channel structure and that, whenever a reasonably accurate plant model is available, an IMC-based FBFF architecture offers a simpler and equally effective alternative.
Source: Journal of Process Control
Author: Robert Bieda
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $3,700
OpenAlex ID: W7213246734