1. Han Jingqing., 1994 A new type of controller: NLPID, Control and Decision, 9(6), p: 401-407. (in Chinese).
2. Han Jingqing, 1998. Auto-disturbances-rejection cont roller and it's applications, Control and Decision, 13(1), p. 19-23. (in Chinese).
3. Han Jingqing, 2009. Active Disturbance Rejection Control Technique --- the technique for estimating and compensating the uncertainties. National Defence Industry Press, Beijing, pp. 257-262.
4. An Control System For the Inertia Stabilised Pan-Tilt System;Gao Tongyue;Computer Measurement & Control,2010
5. Advanced PID control matlab simulation;Liu Jinkun,2012