这是一个很好的matlab程序源，能够很好的反映出基于干扰观测器的 PID 控制性能。-This is a good source of matlab programs that can well reflect the disturbance observer-based PID control performance.

装甲车由于射击力扰动14自由度主动前轮转向系统模型-Active front wheel steering system for 14 DOF armoured vehicle model due to firing force disturbance