The ADRC is composed of nonlinear tracking differentiator (NTD) for feedforward control, an extended state observer (ESO), a nonlinear proportional-derivative controller (NPD) in the feedback path and disturbance compensation.

• 该自抗扰控制器由非线性跟踪微分器、扩张状态观测器、非线性PD和扰动补偿4部分组成。