现在，共模电流(ICM)流过r2，产生了一个电压降。这个电压降与被测的电压相加。

Now, the common-mode current (ICM) flows through R2, developing a voltage drop, which is added to the voltage to be measured.

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因为有一个状态变量不可测，因此设计了降维观测器。

Because one of the state variables can't be measured, an reduced-order observer is designed.

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直测式是将霍尔器件置于具有线圈绕组或直穿母线的环型铁磁体气隙中，测出气隙里的磁压降，即为被测电流。

The direct measure mode is that Hall part is set into the interspace of loop winding or magnet coil, then the magnetism voltage difference or the current is measured.

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直测式是将霍尔器件置于具有线圈绕组或直穿母线的环型铁磁体气隙中，测出气隙里的磁压降，即为被测电流。

The direct measure mode is that Hall part is set into the interspace of loop winding or magnet coil, then the magnetism voltage difference or the current is measured.

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