Sometimes the system inertia is changing over time, like the case with Industrial winders. The diagram shown here compares the performance of ADRC with a range of wrong inertia setting. This was tested by applying a torque disturbance to a motor system. The inertia value provided to the ADRC controller was set to different values to highlight the range of inertia error that can be tolerated by the controller. This shows that the controller can tolerate an inertia mismatch of up to 16 times. The best performance is realized when the inertia value is matched with the application, but if the inertia of the system changes the controller will remain stable.