The active disturbance rejection control of the rotating disk–beam system with boundary input disturbances

This paper deals with the stabilisation of the rotating disk–beam system, where the control ends of beam and disk are suffered from disturbances, respectively. The active disturbance rejection control (ADRC) approach is adopted in investigation. The disturbances are first estimated by the extended state observers, and the observer-based feedback control laws are then designed to cancel the disturbances. When the angular velocity of the disk is less than the square root of the first nature frequency of the beam, it is shown that the feedback control laws are robust to the external disturbances, that is, the vibration of the beam can be suppressed while the disk rotating with a desired angular velocity in presence of the disturbances. Finally, the simulation results are provided to illustrate the effectiveness of ADRC approach.