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。	モデル予測制御
分野	制御理論	制御理論
系統	Machine learning	Machine learning
提唱年	2009	1978
提唱者	Jingquan Han	Jacques Richalet
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.	Richalet, J., Rault, A., Testud, J., & Papon, J. (1978). Model predictive heuristic control. Automatica, 14(5), 413-428.
別名	ADRC, Disturbance Rejection Control	MPC, Receding Horizon Control
関連	2	5
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.	Model Predictive Control (MPC) is an advanced control strategy that uses an explicit process model to predict future system behavior over a finite horizon and solves an optimization problem at each control step. First formalized by Richalet et al. in 1978, MPC has become the dominant approach in process control industries, from chemical plants to autonomous vehicles, because it naturally handles constraints and can optimize multiple objectives simultaneously.