Then, a robust compensation term is developed in form of hyperbolic tangent function to obtain a smooth control input without chattering phenomena.
之后，设计了双曲正切函数的鲁棒补偿项，从而得到一种没有抖振的平滑控制输入。
Perfect smooth radian, multilayer thin tangent, exquisitely carved, elegant, luxurious and pompous.
完美流畅的弧度，多层细切线，精美的雕花，优雅大方，奢华而不浮夸。
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