The evolution process The PID controller (adrc) evolution, took the core idea of PID error feedback control.Traditional PID control direct speech output to the reference input do bad as control signal, resulting in response to the contradiction between quickness and super tonality. Folding editing this section component (adrc) is mainly composed of three parts: the tracking differentiator (tracking differentiator), extended state observer (extended state observer) and nonlinear state error feedback control law (nonlinear state error feedback law).

ADRC_smith.mdl
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