在机构的弹性杆件上贴上压电陶瓷片作为驱动器，通过测量弹性杆上输出点的动态应变，确定机构动力系统的状态，实时地进行最优反馈控制。
The state of the dynamic system is determined by measuring the dynamic strains of the output points at the flexible links, and the real time optimal feedback control in operated.
同时本文还对异杆反馈的收敛性进行了一些粗浅的探讨。
Besides, astringency of different bar feedback is analyzed as well.
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