There have been few researches on disturbance attenuation control for power-assisted wheelchairs, although they are getting more requested.
尽管电动辅助轮椅越来越需要干扰抑制控制，但是这类研究还不多。
Method 1 and method 2 are applied to the constructed nonlinear model, and then two nonlinear L2 gain disturbance attenuation control laws for multi-machine excitation are deduced.
然后将方法1和方法2分别应用于该模型，得出两种多机系统励磁的非线性L_2增益干扰抑制控制律。
Method 1 and method 2 are applied to the constructed nonlinear model, and then two nonlinear L2 gain disturbance attenuation control laws for single-machine excitation are derived.
然后将方法1和方法2分别应用于该模型，得出两种单机系统励磁的非线性L_2增益干扰抑制控制律。
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