Then, a robust compensation term is developed in form of hyperbolic tangent function to obtain a smooth control input without chattering phenomena.
之后，设计了双曲正切函数的鲁棒补偿项，从而得到一种没有抖振的平滑控制输入。
Perfect smooth radian, multilayer thin tangent, exquisitely carved, elegant, luxurious and pompous.
完美流畅的弧度，多层细切线，精美的雕花，优雅大方，奢华而不浮夸。
Perfect smooth radian, multilayer thin tangent, exquisitely carved, elegant, luxurious and pompous.
完美流畅的弧度，多层细切线，精美的雕花，优雅大方，奢华而不浮夸。
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