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

Figure 6

Step response curves for 𝑅₁=0.2m.

(a) 𝑇₁(𝑡) with PID controller

(b) 𝑇₁(𝑡) with ADRC controller

(c) 𝑇₂(𝑡) with PID controller

(d) 𝑇₂(𝑡) with ADRC controller