设计了改进后的粒子群算法PSO在自抗扰控制器参数整定中的程序，并在主气温控制系统中得到验证，结果良好。-Design an improved particle swarm optimization PSO in ADRC parameter tuning the program, and in the main climate control system has been validated with good results.

设计了免疫克隆选择算法ICS整定自抗扰控制参数的程序，并在无刷直流电动机速度控制上得到验证，程序简单可行，结果良好。-Immune clonal selection algorithm is designed ICS ADRC tuning parameters of the procedure, and in the brushless DC motor speed control is verified, the procedure is simple and feasible, with

这是自抗扰控制算法ADRC完整的C语言程序，调试通过的，具有通用性。-This is the control algorithm ADRC ADRC complete C language programming, debugging through, with versatility.