首先从不确定系统控制的角度, 将自抗扰控制与其它一些有关不确定系统控制的理论与方法进行比较和讨论, 然后围绕自抗扰控制理论分析方面的进展
, 以及需要进一步研究的课题进行深入讨论与总结. 通过纵横两方面的讨论揭示自抗扰控制对推进不确定系统控制研究的贡献, 以及自抗扰控制方法的突出特点.

The paper first gives a comprehensive comparison of the frame of the Active Disturbance Rejection Control (AQDRC) with other methods for controlling uncertain systems, which includes the adaptive control, robust control, disturbance observers based methods, etc. Then the process of theoretical analysis for ADRC, mainly concluding the convergence of the tracking differentiator (TD), the capabilities of the extended state observer (ESO) for estimating
uncertainties and the performance of the ADRC based closed-loop system is reviewed. Finally, ADRC's contributions to the research of controlling uncertain systems are concluded.