derivative compensation
1.The former is a robust auto-disturbance rejection controller (ADRC), which contains nonlinear tracking differentiator (TD), extended-states observer (ESO), nonlinear proportional derivative (N-PD) and compensation of unknown disturbance.
2.The ADRC is composed of nonlinear tracking differentiator (NTD) for feedforward control, an extended state observer (ESO), a nonlinear proportional-derivative controller (NPD) in the feedback path and disturbance compensation.
