PAPERmaking! Vol11 Nr3 2025

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1 e k  °  °° ® ˜ °  ˜ ° °¯  1 Q ( ) ( )

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 ȋʹͷȌ Š‡–”ƒ ‹‰•‹‰ƒŽ 1 ( ) k Q  ƒ† –Š‡ †‹ˆˆ‡”‡–‹ƒŽ •‹‰ƒŽ 2 ( ) k Q  ‰‡‡”ƒ–‡† „› TD  ˆ‘” 1 ( ) e k  ƒ† 2 ( ) e k  ™‹–Š –Š‡ •–ƒ–‡ ‡•–‹ƒ–‹‘ •‹‰ƒŽ• 1 ( ) z k  ƒ† 2 ( ) z k ǤŠ‡ƒ’’”‘’”‹ƒ–‡‘Ž‹‡ƒ”ˆ— –‹‘ ( , , ) fal e a G ‹• Š‘•‡–‘‰‡‡”ƒ–‡ 0 ( ) u k „ƒ•‡†‘–Š‡•‡–™‘‡””‘”“—ƒ–‹–‹‡•ǡƒ†ϐ‹ƒŽŽ›–Š‡ ‘–”‘Ž “—ƒ–‹–› ( ) u k  ƒ„‡‘„–ƒ‹‡†ˆ”‘–Š‡‡•–‹ƒ–‹‘•‹‰ƒŽ• 3 ( ) z k  ƒ† 0 b ‘ˆ–Š‡–‘–ƒŽ†‹•–—”„ƒ ‡Ǥ Š‡–™‘‘Ž‹‡ƒ”ˆ— –‹‘• 1 2 0 ( , , , ) fhan x x r h  ƒ† ( , , ) fal e a G  ƒ”‡†‡ϐ‹‡†ƒ•ˆ‘ŽŽ‘™•ǣ  1 , ( , , ) ( ), a a e e fal e a e sign e e G G G G  ˜ d 2 e k 2 Q 2 0 1 1 1 ( ( ), , ) 2 fal e k a u u z k b 2 ( ( ), , ) ( ) / 2 2 0 3 0 ( ) ( ) : NLSEF u k z k fal e k a E G E G  ° ® °¯ ˜ !  ȋʹ͸Ȍ

0 r h h y x u h x a r y 0 1 G G G ˜ ˜   ˜

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 ȋʹ͹Ȍ ‹  †‡Š’‡‡ † †‡ •‡‹‰– ’ ‘ƒˆ” ––•Š ‡‘ ˆ • –‡ŠŽ ‡ˆ Ǧ‹†‡ • ‹ ‰—ǡ ‹ –– ›Šƒ –‘ ‹• –ǡ ”ƒ‘ Ž Ž ‡‘””†‹ ‹ ˜‰‘ Ž–˜‘‡ –•Š –‡Š‹ ”” ‡”‡‡ •’’ƒ‡” – –•‹ǡ˜ ™‡  Š‡ ‹ ‰Š‹  ‡ƒ‡” ‹„‡‰ †• ‹‹ ‰˜ ‹ †‹ ˆ‡‹ †ƒ ‹ –‡‘‘– ˆŠ –”Š‡ ‡‡  †•‡‡Ž•ˆ‹Ǧ‰‹‘—ˆ‡‹–ƒ›Š‘ ‘–”‘’ŽŽ‡‘”Ǥ‡– •‡’ƒ”ƒ–‡Ž› ƒ† ‹†‡’‡†‡–Ž›ǡ ƒ† –Š‡ ‘„‹‡† ‹–‘ ƒ ‘’Ž‡–‡ 4.2. ADRC-based speed chain control ‘Š‡˜ •‡ ’ ‡– ‹‡‘† ƒ Ž‘  – ”‘ Ž  ‘‘ ˆ  ––”Š‘‡Ž ǡ  ‹ ™ ˜Š‡‹ ” –Š‡ ”ǡ  ™ƒ Š‡‹ • Š–Š‹ •‡  ‘ ‘– ‘”‘ Ž‡Ž•›• —” •‡‡• †‹ • –‹ ƒ –  –‘‘† ‡’”‡” – — ”„ •ƒ’– ‹‡‘‡†• ‘‘  –—””‘”Ž‹ǡ •‰– ‹ †Ž Ž — —” •‹ ‡‰•  –•Š– ”‡— ™– —‘ ”” ‡ ‹ „‰ƒ•’‡”†‘ ‘‡••ǡ  ƒ †  –‹Š• ‡ • ”Š‘‘„™—• – ‹ ‡• • ‹ ‰‘Ǥˆ  ͸– Šǡ  ‡‹  • ›– Š• –‹ ‡•  ’ ƒ‹ ’• ‡”ǡ‘ –™ ‰‡‘ ‘– ”†›Ǥ  – ‘Š ‡‹ • ›’ ” ‘ ˜Š‡” ‘ –Š‹ œ‹ •ƒ –Ž‹‹‘ ™‘ ‹– –Š” ‘ƒŽ  • ‡ŠŽƒˆ‹Ǧ”‡ –•‘‹•‹–ƒ ’–”‘˜‘‡ ––Š” ‘‡Ž•Ž ‡›” †Š‡”˜‘‹ ‡‹ œǡ ƒƒ–‹ ‘† –’Š‡‡”ˆ‘ ƒ”’’ƒŽ›  –‡Š ‘‡ˆ ‹–Š ‡’ ”•‘›•˜–‡‡† Ǥ  ‘ –‘ ” ‘  – ”‘ Ž  • Š ‡  ‡  ‹  – Š ‡  • ’ ‡ ‡ †  2 0 0 2 0 G 2 0 a sign y y ra a 0 G 8 / , x y h y 0.5( ) ( ), / , ( ), rsign a a a ° ° ® ° x fhan G G G G d G  °° ®   d  ! °¯ ° ° ° ° ¯   ° ® ° ¯ ! 

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