Figure5
![GPI observer-based active disturbance rejection control for a morphing quadrotor](https://image.oaes.cc/050b2d2f-8841-4839-85ec-62b0ce4e3296/ir3018-5.jpg)
Figure 5. Simulation results of external disturbance estimation. The actual external disturbance (black solid lines), the external disturbance estimated by a GPI observer (red solid lines), and the external disturbance estimated by an ESO (blue dashed lines).