zikangrao

代码说明：

  演变过程 自抗扰控制器自PID控制器演变过来，采取了PID误差反馈控制的核心理念。传统PID控制直接引取输出于参考输入做差作为控制信号，导致出现响应快速性与超调性的矛盾出现。(In the process of evolution, ADRC evolves from PID controller and adopts the core idea of PID error feedback control. Traditional PID control directly draws the output from the reference input as a control signal, which leads to the contradiction between response speed and overshoot.)