一种用于自抗扰控制跟踪微分器的双参数fhan算法

Discrete-time optimal control tracking differentiator (DTOC-TD) based on ${fhan}$ algorithm is widely used in active disturbance rejection control (ADRC) for motor drive, which cannot only arrange the transition process for setpoint jump but also filter out the noises of the input signal. However, for the conventional ${fhan}$ algorithm, only a single $r$ parameter is included, which makes it diff...