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

Table 4

𝑆_𝑇1 and 𝑆_𝑇2 in various test conditions.

Conditions	Controller type
	PID controller		ADRC controller
	𝑆𝑇1 (N)	𝑆𝑇2 (N)	𝑆𝑇1 (N)	𝑆𝑇2 (N)
𝜔3 = 100 r/min, 𝑅1 = 0.2 m	0.3683	0.2949	0.2400	0.2163
𝜔3 = 100 r/min, 𝑅1 = 0.05 m	0.5540	0.4271	0.2686	0.2350
𝜔3 = 500 r/min, 𝑅1 = 0.2 m	0.9326	0.6572	0.4880	0.4064
𝜔3 = 500 r/min, 𝑅1 = 0.05 m	1.3349	0.8514	0.5831	0.4658