ADRC Simulation Implementation Based on Active Disturbance Rejection Control Technology

This simulation program implements Active Disturbance Rejection Control (ADRC) technology based on Han Jingqing's foundational research. The implementation specifically targets tank gun control systems, focusing on enhancing targeting accuracy and operational stability through sophisticated disturbance compensation algorithms. The core ADRC architecture incorporates Extended State Observer (ESO) components for real-time disturbance estimation and nonlinear feedback control mechanisms for precise system regulation. Engineers and researchers can utilize this simulation to test system performance under various operational scenarios while optimizing critical ADRC parameters such as observer bandwidth and controller gains. The program structure includes modular components for separate testing of tracking differentiator, ESO, and nonlinear control law implementations. This comprehensive simulation approach enables the development of robust control systems capable of meeting modern industrial demands while significantly improving equipment safety and reliability through systematic disturbance rejection capabilities.