Second, the structure and algorithm of ADRC controller is discussed in detail and modified the structure and parameters tuning of the ADRC applied to the typical large inertia and large time delay characters of first order and second order plants.

• 然后,详细讨论了ADRC控制器的结构形式和算法实现,结合典型一阶二阶大惯性纯时滞系统对参数整定以及ADRC的结构进行了改进,并引入时间尺度的方法,简化同类对象的ADRC的参数整定。