ADRC控制用C++写出代码

ADRC（Active Disturbance Rejection Control，主动干扰抑制控制）是一种新型的控制方法，可以有效地抑制多种干扰，具有很高的控制精度和稳定性。以下是一个简单的ADRC控制器的C++代码示例：

#include <iostream>
using namespace std;

class ADRC
{
public:
    ADRC(double h, double r1, double r2, double r3, double b0, double b1, double b2, double b3, double a1, double a2, double a3)
    {
        h_ = h;
        r1_ = r1;
        r2_ = r2;
        r3_ = r3;
        b0_ = b0;
        b1_ = b1;
        b2_ = b2;
        b3_ = b3;
        a1_ = a1;
        a2_ = a2;
        a3_ = a3;
        z1_ = 0;
        z2_ = 0;
        z3_ = 0;
        u0_ = 0;
        u1_ = 0;
        u2_ = 0;
        u3_ = 0;
        e0_ = 0;
        e1_ = 0;
        e2_ = 0;
        e3_ = 0;
        u_ = 0;
    }

    double get_control(double y, double yd)
    {
        e0_ = yd - y;
        e1_ = e0_ - e1_;
        e2_ = e1_ - e2_;
        e3_ = e2_ - e3_;

        z1_ = z1_ + h_ * z2_;
        z2_ = z2_ + h_ * z3_;
        z3_ = z3_ + h_ * (b0_ * e0_ + b1_ * e1_ + b2_ * e2_ + b3_ * e3_ - a1_ * z1_ - a2_ * z2_ - a3_ * z3_);

        u0_ = r1_ * z1_ + r2_ * z2_ + r3_ * z3_;

        u1_ = u0_ - u1_;
        u2_ = u1_ - u2_;
        u3_ = u2_ - u3_;

        u_ = u3_;
        return u_;
    }

private:
    double h_;
    double r1_, r2_, r3_;
    double b0_, b1_, b2_, b3_;
    double a1_, a2_, a3_;
    double z1_, z2_, z3_;
    double u0_, u1_, u2_, u3_;
    double e0_, e1_, e2_, e3_;
    double u_;
};

int main()
{
    double y = 0, yd = 1;
    double t = 0, h = 0.01;
    ADRC adrc(h, 1, 0.5, 0.2, 1, -1.3067, 0.4789, 0.0641, 2.8702, -2.3042, 0.4686);

    while (t < 10)
    {
        double u = adrc.get_control(y, yd);
        y = y + h * u;
        cout << t << " " << y << " " << u << endl;
        t += h;
    }

    return 0;
}

在这个示例中，我们定义了一个名为`ADRC`的类，该类包含了ADRC控制器的各个参数和状态变量。`get_control`函数接收当前系统输出`y`和期望输出`yd`作为输入，并返回控制量`u`。在`main`函数中，我们使用一个简单的欧拉积分方法对系统进行模拟，并输出系统的状态和控制量。