Disturbance rejection control of shaking table based on adaptive-model-based state estimator

Real-time hybrid simulation (RTHS) is an important method for the seismic testing of building structures. This method requires high control accuracy for the waveform reproduction of a shaking table. An active disturbance rejection control (ADRC) method is introduced to control the shaking table in this research. In view of the difficulty of parameters setting caused by the large deviation of the extended state observer (ESO) to the state estimation of the shaking table, a model-based adaptive state estimator (AMSE) is designed that uses the model information to estimate the state, and introduces an adaptive strategy to dynamically compensate for the amplitude and phase deviation of the model. The total disturbance is observed by the ESO. Additionally, an AMSE-based ADRC is proposed to achieve high-precision seismic waveform reproduction. The separation principle of the designed system is proved by the Routh–Hurwitz criterion, and the pole assignment bandwidth method is proposed to improve the control performance of the system by flexibly assigning the controller poles. Finally, the shaking table experiments are designed for different specimens. These experiments verify the advantages of the proposed method for state estimation and parameter setting and can effectively improve the stability and control accuracy of shaking table control.