说明：  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.