手法を比較

	拡張状態オブザーバ（ESO）を用いて、外乱やモデルの不確かさをリアルタイムで推定・キャンセルする制御手法であり、これらを付加的な「外乱状態」として扱う。	適応制御
分野	制御理論	制御理論
系統	Machine learning	Machine learning
提唱年	2009	1983
提唱者	Jingquan Han	Karl J. Astrom
種類	algorithm	algorithm
原典	Han, J. (2009). From PID to active disturbance rejection control. IEEE Transactions on Industrial Electronics, 56(3), 900-906.	Astrom, K. J., & Wittenmark, B. (1983). Computer-Controlled Systems: Theory and Design. Prentice Hall.
別名	ADRC, Disturbance Rejection Control	Self-Tuning Control, Parameter Estimation Control
関連	2	3
概要	Active Disturbance Rejection Control (ADRC) is a control method that estimates and cancels disturbances and model uncertainties in real-time using an extended state observer (ESO), treating them as additional 'disturbance states'. Developed by Han and popularized by Gao, ADRC achieves remarkable robustness without requiring precise plant models, making it practical for real-world systems with significant uncertainty and disturbances.	Adaptive Control is a control strategy that adjusts controller parameters in real-time based on online system identification to maintain performance despite changing plant dynamics or uncertain parameters. Pioneered by Astrom and Wittenmark, adaptive control enables robust operation in time-varying environments, from aircraft with fuel depletion to industrial systems with aging components.