Improved Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System with Varying Loads and Low-Resolution Encoder

Table 1

Values of structure size and initial coordinate.

Parameters/Units	Symbols	Values
Length of O1B(O1B’)/m		0.8
Length of O1C(O1C’) /m		0.79
Length of BC(B’C’) /m		0.1261
Length of AB(A’B’)/m		0.3
Coordinate of O /m		(0,0)
Coordinate of O1 /m		(0.15,-0.15)
Coordinate of O2 /m		(0.22,-0.37)
Coordinate of A /m		(0.75,0)
Coordinate of B /m		(0.9463,-0.2269)
Coordinate of C /m		(0.9146,-0.3489)
Initial length of electric cylinder/m		0.6949