Abstract
After reading a lot of data, the author believes that cybernetics will change from the model theory of direct control deviation to the cybernetics of controlling internal and external disturbances according to the invariance theory in the future. Since Watt’s steam engine in 1788, the theory of automatic control has developed rapidly. The PID controller represented by error estimation has been in the dominant position for a long time, but it needs to adjust and adjust the parameters constantly, and new theoretical methods are urgently needed. ADRC will build a bridge between the perceptual thinking of industrial paradigm and the rational thinking of model paradigm. A flexible and intuitive grey-box method is established between the black-box method and the white-box method with disturbance as the core. The control theory will be rewritten by the invariance principle.
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