Open Access
表2
角速度ADRC控制律仿真参数
| 模块 | 参数取值 |
| TD | r0=10, h0=0.1 |
| ESO | β01, p=100, β02, p=1 000, b0, p=-16.66 β01, q=100, β02, q=500, b0, q=-1.687 β01, r=100, β02, r=500, b0, r=-5.72 |
| 控制律 | kp=kq=kr=60, Δp=Δq=Δr=0.01 |
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