A method for determining tuning parameters, comprising: applying, by a system comprising a processor, an iterative search algorithm to an extended state observer that is a function of a system gain estimate and an observer bandwidth, and a control law that is a function of the system gain estimate and a controller bandwidth, over a range of values of a system gain, a time constant, and a dead time, with a ratio between the observer bandwidth and the controller bandwidth kept constant; determining, by the system, based on the application of the iterative search algorithm, sets of values of the controller bandwidth and the system gain estimate that satisfy a robust stability constraint for respective sets of values of the system gain, the time constant, and the dead time; applying, by the system, a curve-fitting method to the determined sets of values of the controller bandwidth and the system gain estimate, from the iterative search, to define a functional relationship between sets of robustly stabilizing values of the controller bandwidth and the system gain estimate and respective sets of values of the system gain, the time constant, and the dead time and obtaining, based on the curve-fitting method, a tuning parameter model of tuning parameter values for the controller bandwidth and the system gain estimate with respect to the arguments system gain, time constant, and dead time; receiving, by the system, system parameter values for a control system that controls a controlled system, the system parameter values comprising at least received values of the system gain, the time constant, and the dead time of the controlled system, wherein the control system comprises an active disturbance rejection control (ADRC) controller having an extended state observer that is a function of the system gain estimate and the observer bandwidth, and having the control law that is a function of the system gain estimate and the controller bandwidth; referencing, by the system, the received values of the system gain, the time constant, and the dead time of the controlled system with the tuning parameter model; determining, by the system, based on the referencing, robustly stabilizing values of the controller bandwidth and the system gain estimate, for the control system based on the received values of the system gain, the time constant, and the dead time of the controlled system; and applying, by the system, the robustly stabilizing values of the controller bandwidth and the system gain estimate to the control system as tuning parameters to facilitate stable performance of the control system, wherein the controlled system is at least one of an industrial robot, a positioning system, a pump, a spin dryer, a washing machine, a centrifuge, a conveyor, a palletizer, or a web tension control system. applying, by a system comprising a processor, an iterative search algorithm to an extended state observer that is a function of a system gain estimate and an observer bandwidth, and a control law that is a function of the system gain estimate and a controller bandwidth, over a range of values of a system gain, a time constant, and a dead time, with a ratio between the observer bandwidth and the controller bandwidth kept constant; determining, by the system, based on the application of the iterative search algorithm, sets of values of the controller bandwidth and the system gain estimate that satisfy a robust stability constraint for respective sets of values of the system gain, the time constant, and the dead time; applying, by the system, a curve-fitting method to the determined sets of values of the controller bandwidth and the system gain estimate, from the iterative search, to define a functional relationship between sets of robustly stabilizing values of the controller bandwidth and the system gain estimate and respective sets of values of the system gain, the time constant, and the dead time and obtaining, based on the curve-fitting method, a tuning parameter model of tuning parameter values for the controller bandwidth and the system gain estimate with respect to the arguments system gain, time constant, and dead time; receiving, by the system, system parameter values for a control system that controls a controlled system, the system parameter values comprising at least received values of the system gain, the time constant, and the dead time of the controlled system, wherein the control system comprises an active disturbance rejection control (ADRC) controller having an extended state observer that is a function of the system gain estimate and the observer bandwidth, and having the control law that is a function of the system gain estimate and the controller bandwidth; referencing, by the system, the received values of the system gain, the time constant, and the dead time of the controlled system with the tuning parameter model; determining, by the system, based on the referencing, robustly stabilizing values of the controller bandwidth and the system gain estimate, for the control system based on the received values of the system gain, the time constant, and the dead time of the controlled system; and applying, by the system, the robustly stabilizing values of the controller bandwidth and the system gain estimate to the control system as tuning parameters to facilitate stable performance of the control system, wherein the controlled system is at least one of an industrial robot, a positioning system, a pump, a spin dryer, a washing machine, a centrifuge, a conveyor, a palletizer, or a web tension control system.