The fHan tracking differentiator (TD)-based active disturbance rejection control (ADRC) is widely adopted in permanent magnet synchronous motor (PMSM) drives to suppress setpoint jumps. However, this work uncovers a critical drawback: the optimal value of the parameter r in fHan-TD, which is designed to achieve rapid and overshoot-free control, exhibits strong dependence on speed step commands and load variations. Consequently, existing fixed r configurations fail to sustain stability and dynamic performance under varying operating conditions. To address this, this paper proposes a self-regulating fHan-TD algorithm that dynamically tunes r in real-time. Experimental validation on a PMSM drive platform confirms that the proposed algorithm reduces the speed settling time by up to 50% relative to the conventional fixed- r fHan-TD, while maintaining no overshoot across diverse operating scenarios.
Wang et al. (Mon,) studied this question.