自抗扰控制算法是一种非线性控制算法，它具有良好的鲁棒性，其输出对系统内扰和系统受到的外部扰动不敏感。(ADRC is a nonlinear control algorithm. It has good robustness, insensitive to system disturbances and external disturbances.)

电机的PI控制系统和非线性自抗扰控制系统的仿真程序。从仿真结果可以看出，线性自抗扰控制器和非线性自抗扰控制器一样，具有良好的动静态性能，(Simulation program of PI control system and nonlinear active disturbance rejection control system of motor. The simulation results show that the linear ADRC has good dynamic and sta