说明：  ADRC，全称叫做Active Disturbance Rejection Control，中文名是自抗扰控制技术。这项控制算法是由中科院的韩京清教授提出的。韩教授继承了经典PID控制器的精华，对被控对象的数学模型几乎没有任何要求，又在其基础上引入了基于现代控制理论的状态观测器技术，将抗干扰技术融入到了传统PID控制当中去，最终设计出了适合在工程实践中广泛应用的全新控制器。
(ADRC, full name is active disturbance rejection control, Chinese name is auto disturbance rejection control technology. This control algorithm was proposed by Professor Han Jingqing of the Chinese Academy of Sciences. Professor Han inherited the essence of the classic PID controller and almost had no requirement for the mathematical model of the controlled object. On the basis of it, the state observer technology based on modern control theory was introduced, and the anti-interference technology was integrated into the traditional PID control. Finally, a new controller suitable for engineering practice was designed.)