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中文摘要：
研究了线性扩张状态观测器（Extended state observer,ESO）的估计能力,并且分析了在线性自抗扰控制（Linearactive disturbance rejection control,LADRC）下闭环系统的稳定性.对于系统模型未知的情形,给出了线性扩张观测器估计误差有界的证明,并通过分析得出了如下结论：在扩张状态观测器跟踪误差趋于零的前提下,在线性自抗扰控制下的闭环系统可以实现对设定信号的精确跟踪以及输入-输出有界（Bounded input and bounded output,BIBO）稳定.
英文摘要：
This paper investigates the estimation ability of linear extended state observer（ESO） and the stability of the closed-loop system under the linear active disturbance rejection control（LADRC）.The bounds of the estimation tracking errors for linear extended state observer（ESO） are proved when the mathematical model of the plant is not given,and the following results are given：under the condition that the tracking error of ESO converges to zero,the accurate tracking to the setpoint signal and the bounded input and bounded output（BIBO） stability can be achieved for the closed loop system under the control of LADRC.
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