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Author: gabrielfrasantos

doc/robust_control/ActiveDisturbanceRejection.md

@@ -55,11 +55,11 @@ Substituting into the plant equation and using $\hat{f} \approx f$ gives the clo
 
 ## Complexity Analysis
 
-| Case    | Time       | Space      | Notes                                    |
-|---------|-----------|-----------|------------------------------------------|
-| Best    | $O(n)$    | $O(n)$    | Linear sweep over $n+1$ ESO states       |
-| Average | $O(n)$    | $O(n)$    | Same; gains precomputed at construction  |
-| Worst   | $O(n)$    | $O(n)$    | No branching in the hot path             |
+| Case    | Time   | Space  | Notes                                   |
+|---------|--------|--------|-----------------------------------------|
+| Best    | $O(n)$ | $O(n)$ | Linear sweep over $n+1$ ESO states      |
+| Average | $O(n)$ | $O(n)$ | Same; gains precomputed at construction |
+| Worst   | $O(n)$ | $O(n)$ | No branching in the hot path            |
 
 Gains are computed once at construction from closed-form binomial formulas in $O(n)$ time. The `Compute` hot path is a pair of $O(n)$ loops with no dynamic allocation.
 

doc/robust_control/README.md

@@ -4,7 +4,7 @@ Algorithms for robust control design: controllers that explicitly account for di
 
 ## Algorithms
 
-| Algorithm                                     | Description                                                                                                                                                                    |
-|-----------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| [Active Disturbance Rejection Control](ActiveDisturbanceRejection.md) | Near model-free controller pairing an Extended State Observer with bandwidth-parameterized PD feedback to estimate and cancel total disturbance in real time |
-| [Sliding Mode Control](SlidingModeControl.md) | Variable-structure controller driving the state onto a sliding surface with a boundary layer to suppress chattering — robust to matched disturbances and parameter uncertainty |
+| Algorithm                                                             | Description                                                                                                                                                                    |
+|-----------------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| [Active Disturbance Rejection Control](ActiveDisturbanceRejection.md) | Near model-free controller pairing an Extended State Observer with bandwidth-parameterized PD feedback to estimate and cancel total disturbance in real time                   |
+| [Sliding Mode Control](SlidingModeControl.md)                         | Variable-structure controller driving the state onto a sliding surface with a boundary layer to suppress chattering — robust to matched disturbances and parameter uncertainty |