# A Two-Degree-of-Freedom Controller Design Satisfying Separation Principle With Fractional-Order PD and Generalized ESO

> Research article (IEEE/ASME Transactions on Mechatronics, 2021) · cited 60× · AI/ML

**Wikidata**: [openalex:W3129323611](https://www.wikidata.org/wiki/openalex:W3129323611)  
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