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Fractional proportional derivative-based active disturbance..:

Ahmed Alawad, Nasir ; Jaleel Humaidi, Amjad ; Sabah Alaraji, Ahmed
Indonesian Journal of Electrical Engineering and Computer Science.  28 (2022)  3 - p. 1405 , 2022
Link: https://doi.org/10.11591/ijeecs.v28.i3.pp1405-1413