Generalized separation principle (GSP) is a main reason why active disturbance rejection control (ADRC) is easy to use. In this short note, GSP is interpreted from the respective of robust control. Linear active disturbance rejection control (LADRC) is described as an interconnection of two subsystems, while to design LADRC is a process to tuning the gains of them. Small gain theorem guarantees separately tuning is possible. That is why GSP works.

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