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This is a brief survey of a little known field of disturbance estimation and subsequent cancellation, a field with a long history and is still rather disorganized. Researchers and results are scattered over almost two centuries, across East and West: from Jean-Victor Poncelet's Principle of Invariance in 1829, to Jingqing Han's conception of Active Disturbance Rejection in 1995 and beyond. But the...
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