针对一类典型的奇异摄动动力学系统提出了双回路变结构控制器的设计方法。
The paper proposes an approach to design a dual-loop variable structure controller for a particular class of singularly perturbed dynamic systems.
采用奇异摄动方法将柔性机械臂系统动力学方程分解为慢变(刚性)和快变(弹性)两个子系统。
Using the singular perturbation theory, the full-order flexible dynamics system is decomposed into slow (rigid) and fast (flexible) subsystems.
该柔性臂的控制是依据柔性臂的动力学模型，应用奇异摄动理论，将其分解为慢、快变两个子系统。
This flexible arm control is rests on the flexible arm dynamics model, with the strange perturbation theory, it is diveded into two sub-systems (slow, quick change).
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