@article{HerbstMadonski2023,
  author    = {Gernot Herbst and Rafal Madonski},
  title     = {Tuning and implementation variants of discrete-time ADRC},
  journal   = {Control Theory and Technology},
  volume    = {21},
  number    = {1},
  pages     = {72 -- 88},
  doi       = {10.1007/s11768-023-00127-0},
  year      = {2023},
}