通过重新定义系统的输出，将柔性机械臂的模型分解为输入输出和零动态两个子系统；

Using redefinition system output, a model of the flexible manipulator is decomposed into input-output subsystem and zero-dynamics subsystem.

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论文介绍了整个微机图像处理系统的系统构成，以及各部分硬件的设计情况，包括图像输入输出设备、微机接口、自动物流子系统等。

Then the structure of the whole system is introduced, as well as the hardware design, including I/O devices, PC interface, transmitted subsystem, and so on.

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在此基础上，利用微分几何的输入输出线性化方法，导出了一个简化的线性规范型子系统。

The problem of adaptive fuzzy sliding mode control for a class of nonlinear SISO systems with nonlinear input is studied in this paper.

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