@article{aminimumfootprintimplementationof,
  title = {A Minimum-Footprint Implementation of Discrete-Time ADRC},
  author = {Gernot Herbst},
  year = {2021},
  eprint = {2104.01943},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.01943v4},
}