Controller is designed based on VHDL, the research keys are the implementation of the on-line learning algorithm of CMAC and the closed-loop simulation test of the controller.
基于VHDL设计该控制器，重点在于CMAC的在线学习算法实现和控制器模块的闭环仿真测试。
At last, experiment of open loop and closed loop system are completed, which is in accord with the simulation result. It verified feasibility and advantage of the control scheme.
最后完成了系统的开环和闭环实验，取得了和仿真一致的结果，从而验证了控制方案的可行性和优越性。
Simulation results show that, in the closed-loop system, precise attitude control is accomplished in spite of the uncertainties and external disturbances in the system.
仿真结果表明：即使系统存在不确定性和外界干扰，仍可在闭环系统中实现精确的姿态控制。
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