The nonlinear controller is mainly composed of an extended state observer (ESO), an input reference signal tracking-differentiator (TD) and a nonlinear state error feedback (NLSEF) control law.

• 自抗扰控制器为非线性控制器，由跟踪微分器、扩张状态观测器和非线性状态误差反馈控制律3部分构成。