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ADRC (active disturbance rejection control)?
Please at https://rflysim.com/en/6_CasesStudy/DevelepmentofaSimplifiedAutopilot.html
From where can I get the simulation file

Some modules and interfaces have not yet been determined, so currently the model is not available. You can refer to https://ww2.mathworks.cn/help/stateflow/ug/schedule-subsystems-to-execute-at-specific-times.html to build your own model.