Improved Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System with Varying Loads and Low-Resolution Encoder

Table 3

Tuned control parameters of LADRC and PID.

Controller	Control parameters	Symbols	Values
Reduced-order LADRC	Observer gain	ωo	10
	Coefficient of position error feedback	kp	10
	Coefficient of velocity feedforward	kv	1
	Coefficient of acceleration feedforward	ka	0
Traditional LADRC	Observer gain	ω'o	20
	Coefficient of position error feedback	k'p	200
	Coefficient of velocity feedforward	k'v	0
	Coefficient of acceleration feedforward	k’a	12
PID with HGTD	Gain of HGTD		10
	Proportional coefficient	kP	150
	Integral coefficient	kI	1500
	Derivative coefficient	kD	15