By using the extended state observer to estimate the angle and angular velocity of the pendulum, the 2 tracking differentiators are used to get the displacement and velocity of the car and the reference displacement and velocity respectively. They are combined into the control quantity, and the good control of the deflection angle of the pendulum rod and the displacement of the car is achieved.

Filename	Size	Update
ADRC\ADRC2.slx	15268	2018-04-25
ADRC\han_NLSEF3.m	8339	2018-04-23
ADRC\han_TD2.m	8551	2018-04-25
ADRC\han_eso2.m	8367	2018-04-23
ADRC	0	2018-04-27

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