Based on ADRC extended state observer(ESO) to get the model uncertainty and external interference of the system, the system shows good adaptability to noise and model uncertainty.

• 系统利用自抗扰控制器(ADRC)的扩张状态观测器，来对系统模型中的不确定因素和外扰进行动态观测，使系统对扰动具有很好的适应能力。