该方法先考虑输入具有饱和非线性的线性系统一般形式，再通过构造低增益部分、高增益非线性部分及复合非线性控制律三步完成设计。
The normal form of the linear systems with input saturation was considered; and then the control law was designed by constructing low-gain, high-gain and CNF gradually.
该方法先考虑输入具有饱和非线性的线性系统一般形式，再通过构造低增益部分、高增益非线性部分及复合非线性控制律三步完成设计。
The normal form of the linear systems with input saturation was considered; and then the control law was designed by constructing low-gain, high-gain and CNF gradually.
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