# Half-Gain Tuning for Active Disturbance Rejection Control

arXiv: https://arxiv.org/abs/2003.03986 · HTML: https://mlsanity.com/paper/2003.03986/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Mar 2020.

## Built on by (most cited first, 1 of 1)

- [Tuning of extended state observer with neural network-based control performance assessment](https://mlsanity.com/paper/2103.15516/) (2021)

## Abstract (arXiv)

A new tuning rule is introduced for linear active disturbance rejection control (ADRC), which results in similar closed-loop dynamics as the commonly employed bandwidth parameterization design, but with lower feedback gains. In this manner the noise sensitivity of the controller is reduced, paving the way for using ADRC in more noise-affected applications. It is proved that the proposed tuning gains, while rooted in the analytical solution of an algebraic Riccati equation, can always be obtained from a bandwidth parameterization design by simply halving the gains. This establishes a link between optimal control and pole placement design.