简介：Thispaperfocusesonthestabilityanalysisoftheactivedisturbancerejectioncontrol(ADRC)foraclassofuncertainsystems.ToovercomethedifficultyofdefiningareasonableLyapunovfunctionandsettinglimitationsofsystemparameters,theconverseLyapunovtheoremandthedisturbancetheoryareemployed.Thispaperprovesthattheestimationerroroftheextendedstateobserver(ESO)andthetrackingerroroftheclosed-loopsystemusingADRCareuniformlyultimatelyboundedandmonotonouslydiminishingwiththeincreaseoftheirrespectivebandwidth,sothatthestabilityoftheADRCsystemcouldbeperformed.Inordertofurtherillustratetherelationshipbetweenthestabilityrangeandbandwidths,itanalyzesquantitativelytheperformanceofESOandADRCbasedontherootlocusandthestepresponse.Finally,anexamplebasedonatypicalcontrolsystemiscarriedout,andsimulationresultsverifythetheoreticalanalysisprovedinthispaper.