Disturbance rejection PID controller tuning

Help the users to design/improve PID controller. The obtained PID controller owns active disturbance rejection capbility.

Help the users to design/improve PID controller. The obtained PID controller owns active disturbance rejection capbility.
The method come from the paper " Design, analysis and application of a new disturbance rejection PID for uncertain systems," https://www.sciencedirect.com/science/article/abs/pii/S0019057820300227;
Some introduction is presneted here: https://zhuanlan.zhihu.com/p/215290384;