Based on cascade control strategy and nonlinear auto-disturbance-rejection control (ADRC) method, double loop (position loop and current loop) ADRC was designed for single-pivot levitation system.

• 双环(位置环和电流环)自抗扰控制器的设计,以单点悬浮系统为研究对象,采用分级控制策略和非线性自抗扰控制方法。