Cascade Extended State Observer (CESO) for Active Disturbance Rejection Control (ADRC)

I am trying to modify the "Cascade Extended State Observer (CESO)" zip file shared by the authors to apply ADRC. I am trying to implement it for my first-order system but am getting many errors. I have debugged many errors, but in the final stage it started giving me errors again related to dimensions. I understand that the state-vector dimensions will change depending on the order of the system. Is it possible to share or provide a solution to resolve the issue?

My plant (model) is a first-order low-pass filter type system.

I ensure that I will provide appropriate references/citations to the authors (and their program) and MathWorks products.

Let me know if you need any specific information.

[Sam Chak]

The OP is possibly referring to the MATLAB program shared on File Exchange:

https://www.mathworks.com/matlabcentral/fileexchange/105330-cascade-extended-state-observer-ceso