diff --git a/Core/Src/ladrc.c b/Core/Src/ladrc.c
index 8669eaf..2248d5e 100644
--- a/Core/Src/ladrc.c
+++ b/Core/Src/ladrc.c
@@ -183,12 +183,23 @@ void FourWheel_LADRC_ResetAll(void)
 /**
   * @brief  设置四个轮子的目标 RPM。
   */
+#define LADRC_TARGET_SLEW_RPM_PER_S   80.0f   // 目标斜率，先试 80 rpm/s
+
+static float Ramp_To_Target(float curr, float target, float step)
+{
+    if (target > curr + step) return curr + step;
+    if (target < curr - step) return curr - step;
+    return target;
+}
+
 void FourWheel_Set_Target_RPM(float fl_rpm, float rl_rpm, float fr_rpm, float rr_rpm)
 {
-    ladrc_motors[MOTOR_FL].v = fl_rpm;
-    ladrc_motors[MOTOR_RL].v = rl_rpm;
-    ladrc_motors[MOTOR_FR].v = fr_rpm;
-    ladrc_motors[MOTOR_RR].v = rr_rpm;
+    const float step = LADRC_TARGET_SLEW_RPM_PER_S * LADRC_CONTROL_DT_S;
+
+    ladrc_motors[MOTOR_FL].v = Ramp_To_Target(ladrc_motors[MOTOR_FL].v, fl_rpm, step);
+    ladrc_motors[MOTOR_RL].v = Ramp_To_Target(ladrc_motors[MOTOR_RL].v, rl_rpm, step);
+    ladrc_motors[MOTOR_FR].v = Ramp_To_Target(ladrc_motors[MOTOR_FR].v, fr_rpm, step);
+    ladrc_motors[MOTOR_RR].v = Ramp_To_Target(ladrc_motors[MOTOR_RR].v, rr_rpm, step);
 }
 
 /**