A Decoupling Control Algorithm for Unwinding Tension System Based on Active Disturbance Rejection Control

Figure 9

Antidisturbance curves for 𝜔₃=100 r/min.

(a) 𝑇₁(𝑡) with PID controller

(b) 𝑇₁(𝑡) with ADRC controller

(c) 𝑇₂(𝑡) with PID controller

(d) 𝑇₂(𝑡) with ADRC controller