用双代数形式表示的不变量具有简洁、具体的表达式，可以由图像点坐标和基础矩阵直接求出。

The invariants of double algebra's form has simple and explicit expression which can be computed directly by coordinates of image points and fundamental matrix.

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最后，针对工业过程中常见的多变量多时滞输入输出系统，提出了一种双内模解耦控制器矩阵的设计方法。

At last, a decoupling dual internal model controller matrix design method is proposed for multi-variable time-delay input-output system in industrial processes.

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