控制器的设计是直接基于称为伪偏导数的向量，伪偏导数是通过新型参数估计算法，根据给出的永磁直流直线电机非线性系统模型的输入输出信息在线导出的。
The design of controller is based directly on pseudo- partial-derivatives (PPD) derived on-line from the input and output information of the system using a novel parameter estimation algorithm.
由重叠区域决定部分，特征量计算部分，车辆姿态计算部分和结果输出部分这四个部分构成在线标定系统。
An online calibration system comprises an overlapping area deciding part, a characteristic quantity calculating part, a vehicle posture calculating part and a result output part.
对于多输入多输出系统，虽然原理上也能应用这种控制策略，但在实际应用中会遇到一定的困难，需要解决运动趋势的在线预报等问题。
Although in principle it can also be applied to MIMO systems, it might meet some practical problems in this situation such as the on-line predictor of the ship's movement.
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