通过合理控制计算量，得到了微分方程近似解的局部截断误差的估计。
The local truncated error estimation of the approximately solution could be obtained with reasonable computational cost.
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。
The auto-disturbance rejection controller is composed of three parts: tracking-differentiator, extended state observer and nonlinear state error feedback control law.
众所周知，完全微分pid的微分作用只持续一个周期，微分作用相当于不怎么起作用，从而不能达到有效超前控制误差的目的。
As we all knew, the differential action of the complete differential PID controller had nearly no effect as which last only one period, so that the advance control of error can't be achieved.
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