Active disturbance rejection control: From an enduring idea to an emerging technology

摘要: This paper introduces an emerging technology called active disturbance rejection control (ADRC), and a story that spans East to West in geography centuries time. Emerges from ADRC is the idea shadowed ancient Chinese invention of south-pointing chariot, embedded Frenchman' isochronous governor early 19th Century, very same invariance formalized 1939 Soviet Union. The was again revived 1990s form soon spread U.S., where it took roots gradually matured into viable industrial technology, as evident recent adoptions by major concerns. Also seen clashing ideas history science, go back H.S. Tsien R. Kalman 1950s. origin making can only be understood interplay big presented this paper. Subject scrutiny were basic problems, fundamental assumptions, conception science itself. It disagreement on foundation our craft makes paradigm-shift seem inevitable, theory practice.