It comes up with a method to design an effective control method for uncertain complicated nonlinear system. this thesis uses the method of ADRC studied by HanJingqing, and is compared with non-PID and PID controller by emulation during winding process.

• 针对被控对象未知的复杂的非线性系统,研究一种工程上实用的有效控制方法是目前有待解决的问题,本文介绍了韩京清教授提出的自抗扰控制器(ADRC)的特点及其离散算法,并且与非线性PID控制器、PID控制器进行了仿真对比。