量测噪声存在时的自抗扰控制分析

摘要

主要讨论量测噪声对自抗扰控制器（ ADRC）的影响，分析了在各种噪声条件下ADRC的估计误差，并合理设计滤波器用以减少噪声对系统的影响。最后，通过仿真实例对分析结论进行了验证。%　　The main purpose of this paper is to study Active Disturbance Rejection Control ( ADRC) in the present of measurement noise .Estimation error is analyzed for some types of noise,and a filter is designed to reduce the effect of noise .Finally,simulation results demonstrate the main conclusions .