自抗扰控制（Auto-Disturbance Rejection Control, ADRC） [6-9] 能高效地解决不确定性对象的控制问 题，具有很强的适应性和鲁棒性。
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The auto-disturbance rejection controller is composed of three parts: tracking-differentiator, extended state observer and nonlinear state error feedback control law.
自抗绕控制器由三部分组成：跟踪微分器、扩张状态观测器和非线性状态误差反馈控制律。
To improve the robustness of control systems, a nonlinear auto-disturbance rejection control (ADRC) technique for pneumatic servo systems was developed and a parameter setting method was given.
为提高控制系统的鲁棒性，增强干扰抑制能力，提出了适用于气压伺服系统的自抗扰控制器方案，并讨论了控制参数的整定。
Based on cascade control strategy and nonlinear auto-disturbance-rejection control (ADRC) method, double loop (position loop and current loop) ADRC was designed for single-pivot levitation system.
双环(位置环和电流环)自抗扰控制器的设计，以单点悬浮系统为研究对象，采用分级控制策略和非线性自抗扰控制方法。
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