Active Disturbance Rejection Control (ADRC) is designed for uncertain systems with input and state delays.

• 针对不确定时滞系统；将输入时滞系统等价于高阶输入无时滞系统；利用自抗扰控制技术(ADRC)；并在控制回路中串联一滤波器得到易于执行的控制量.