Through linearizing nonlinear vehicle model, vehicle side-slip Angle estimation algorithms based on generalized Kalman filter and generalized Luenberger observer are formulated.

用非线性车辆模型线性化方法，设计了基于广义卡尔曼滤波器和广义龙贝格观测器的质心侧偏角估计算法。

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The research results showed that the method of feedback control can enhance the yaw rate and side-slip angle of mass centre, therefore lateral stability of vehicle is further improved.

说明采用该控制方法可以很好的控制汽车的横摆角速度和质心侧偏角，提高汽车的侧向稳定性。

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Another nonlinear inversion controller was designed for the slow variables. It allows the pilot to control the slow dynamics, the Angle of attack, side-slip Angle and the velocity bank Angle.

对慢变量进行非线性逆控制器的设计可使飞行员控制飞机慢动力学，即迎角、侧滑角和速度矢量滚转角。

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