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In the current text, it seems that the focus is on the use of PSO_ADRC.m and chaos.m to optimize the adjustment of the ADRC parameters. To expand on this topic, it may be useful to provide more context and background information on what ADRC is and why it is important to optimize its parameters. In addition, it could be beneficial to discuss different optimization techniques and their pros and cons, and how PSO_ADRC.m and chaos.m compare to other methods. Another possible area to expand on is the application of ADRC in different fields or industries and how optimization can lead to better performance and results. Additionally, it may be helpful to provide examples or case studies to demonstrate the effectiveness of using PSO_ADRC.m and chaos.m for ADRC parameter optimization. Finally, it may be useful to discuss any potential limitations or challenges in using these tools and how they can be addressed.