//**********???TD?Parameters?************
float?r=2000;
float?h=0.002;

//**********???ESO?Parameters?************
float?delta=0.001;
float?b=2;
float?beta01=135;
float?beta02=1900;
float?beta03=80;

//**********???NLSEF?Parameters?************
float?alpha1=0.4;
float?alpha2=1.1;
float?beta1=1;
float?beta2=1.1;

float?ADRC（float?vfloat?yfloat?u）?????????????//?v是控制系統的輸入，y是控制系統的輸出，反饋給ESO，u是ADRC的輸出控制量
{
	float?u0;
	float?e=0;
	float?e1=0;
	float?e2=0;
//**********???TD??************
	td_x1=td_x1+h*td_x2;????????????????????????//td_x1=v1;
	td_x2=td_x2+h*fst（td_x1td_x2v）;???????????//td_x2=v2;
//********??eso??*************
	e=z1-y;
	z1=z1+h*（z2-beta01*e）;
	z2=z2+h*（z3-beta02*fal（e0.5delta）+b*u）;
	z3=z3-h*beta03*fal（e0.25delta）;
//***********??NLSEF?*************
	e1=td_x1-z1;???				/

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????1866??2020-07-27?20:18??ADRC.c