Active Disturbance Rejection Control (ADRC) Toolbox for MATLAB/Simulink

In this study, an active disturbance rejection control (ADRC) toolbox for MATLAB/Simulink is introduced. Although ADRC has already been established as a powerful robust control framework with successful industrial implementations and strong theoretical foundations, a comprehensive tool for computer-aided design of ADRC has not been developed until now. The proposed open-source ADRC Toolbox is a response to the growing need in the scientific community and the control industry for a straightforward software application of the ADRC methodology. Its main purpose is to fill the gap between the current theories and applications of ADRC and to provide an easy-to-use solution for users in various control fields who want to employ the ADRC scheme in their applications. The ADRC Toolbox contains a single, general-purpose, drag-and-drop function block that allows the synthesis of a predefined ADRC-based strategy with minimal design effort. Additionally, its open structure allows creation of custom control solutions. The efficacy of the ADRC Toolbox is validated through both simulations and hardware experiments, which were conducted using a variety of problems known in the motion, process, and power control areas.Comment: 43 pages, 16 figures, 3 table

Adrenergic, nitrergic and peptidergic innervation of the urethral muscle in the boar.

In this study, the innervation of the urethral muscle in adult male pigs was investigated using combined NADPH-diaphorase (NADPH-d) histochemistry and immunocytochemistry. Nerve fibres supplying the urethral muscle were found to show NADPH-d activity and they also expressed immunoreactivity to catecholamine synthesising enzymes including tyrosine hydoxylase (TH) and dopamine-beta-hydroxylase (DbetaH) as well as to: vasoactive intestinal polypeptide (VIP) and neuropeptide Y (NPY). Different subpopulations of the nerve fibres (NADPH-d positive, TH-, DbetaH-, VIP- and NPY-immunoreactive (IR), but also NADPH-d/VIP- and NADPH-d/NPY-IR) were disclosed. These nerve fibres were observed not only to run among muscle fibres of the urethral muscle, but also within extrinsic nerve trunks. Moreover, in the organ studied, numerous ganglia were found. The intramural ganglia, composed of a few to 30 neurons were located in the proximal, middle and distal regions of the pelvic urethra. In the vicinity of the urethral muscle, there were mainly small ganglia containing two to several neurons, but also larger ganglia consisting of up to tens neurons were encountered in the connective tissue surrounding the pelvic urethra. In the ganglia observed in the neighbourhood of the urethral muscle, different subpopulations of nerve cells were found, namely: catecholaminergic, nitrergic, VIP-IR, NPY-IR and also NADPH-d/DbetaH-, NADPH-d/VIP- and NADPH-d/NPY-positive. Possible sources of the innervation for this muscle were also discussed

Primary Ewing Sarcoma of the Thyroid—Eight Cases in a Decade: A Case Report and Literature Review

Sarcomas represent less than 1% of all malignant tumors found in the thyroid. Of these, primary extraosseoussarcoma has been reported only a few times in the past decade. We present the case of a 34-year-old male who had a fast-growing hard mass in the lower left neck. FNA was inconclusive. Core needle biopsy revealed the diagnosis of an Ewing sarcoma/primitive neuroectodermal tumor. Mutation of EWSR1 was confirmed using the FISH method. Following treatment by neoadjuvant chemotherapy, we observed clinical, radiological, and finally histopathological remission. This was followed by a left-sided isthmolobectomy with unilateral cervical lymph node dissection by lateral lymphadenectomy, which revealed no residual disease. Posttreatment radiotherapy was administered but discontinued upon the patient’s request. After 18 months of observation, the patient had no recurrence or metastasis and required l-thyroxine supplementation. We discuss our case using a comparative literature review to the few other known case reports

Robust converter-fed motor control based on active rejection of multiple disturbances

In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of reconstructing various types of disturbances (including complex, harmonic signals). A special formulation of the proposed design allows the control action to be expressed in a concise and practically appealing form reducing its implementation requirements. The obtained experimental results show increased performance of the introduced approach over conventionally used methods in tracking precision and disturbance rejection, while keeping similar level of energy consumption. A stability analysis using theory of singular perturbation further supports the validity of proposed control approach.</p

Active disturbance rejection control design with suppression of sensor noise effects in application to DC–DC buck power converter

The performance of active disturbance rejection control (ADRC) algorithms can be limited in practice by high-frequency measurement noise. In this article, this problem is addressed by transforming the high-gain extended state observer (ESO), which is the inherent element of ADRC, into a new cascade observer structure. Set of experiments, performed on a dc-dc buck power converter system, show that the new cascade ESO design, compared to the conventional approach, effectively suppresses the detrimental effect of sensor noise overamplification while increasing the estimation/control performance. The proposed design is also analyzed with a low-pass filter at the converter output, which is a common technique for reducing measurement noise in industrial applications