中文说明：本文采用基于无模型的自抗扰算法，将网络环节和被控对象同视为控制对象，利用扩张状态观测器对控制系统的变化进行实时观测估计。
English Description：
In this paper, a model free active disturbance rejection (ADRC) algorithm is adopted. The network link and the controlled object are regarded as control objects, and the extended state observer (ESO) is used to observe and estimate the changes of the control system in real time.