通过采用结构不变性原理及PID控制来实现力的逐点跟踪。
The structural invariability principle and PID control were adopted to carry out force tracking from this point to another.
基于结构不变性原理，以负载压力作为观测量，设计了摩擦力补偿控制器。
According to the structure invariance principle, a friction compensation controller is designed by choosing load pressure as the observed value.
通过负载扰动观测，依据系统结构不变性原理实时补偿变量马达摆角，实现系统的转速控制。
The variable motor swing Angle is real-timely compensated according to the structural invariability for speed control, through the load vibration observer.
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