Chapter three introduces the GPIB controller interface function, especially the designing of state machine according to IEEE-488. Chapter four introduces the designing of data channel.
The auto-disturbance rejection controller is composed of three parts: tracking-differentiator, extended state observer and nonlinear state error feedback control law.
自抗绕控制器由三部分组成：跟踪微分器、扩张状态观测器和非线性状态误差反馈控制律。
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Chapter three introduces the GPIB controller interface function, especially the designing of state machine according to IEEE-488.