With the use of a robust error mapping function, an affine model-based target tracking algorithm is formulated, in which a quasi-Newton's iterative method is implemented in the optimization progress.

在采用一个鲁棒性匹配误差映射函数的基础上，使用一种类牛顿法的迭代优化方法实现了基于仿射模型的图像目标跟踪算法。

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As to the problem of tuning PID-CCC controller parameters, Cross-coupling fuzzy self-tuning based on CETF (contouring error transfer function) is proposed, which is robust to the parameters of plants.

针对通常PID - CCC控制器参数的整定困难问题，在轮廓误差传递函数(CETF)的基础上提出采用在线模糊CCC控制器参数自整定方法。

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