对于本文来说，我们将着重介绍控制系统，以及在将其嵌入物理机器人之前可以对其进行仿真和验证的方法。

For this article, I focus on the control system and the ways in which you can simulate and validate it before spending time embedding it in a physical robot.

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在从参考模型取状态MRAC方案的基础上，提出了混合自适应设计方法。文中给出详细的理论推导和仿真验证。

This paper presents a mixed self adaptive design method by taking the state MRAC scheme from a reference model. It gives a detailed theoretical derivation and simulation proof.

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最后，基于FPGA技术实现了系统提出的各种功能，并进行了仿真，验证了其设计的合理性和正确性。

In the end, all the proposed functions are realized based upon FPGA technique and the rationality and validity of the design is tested through simulation.

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