本文中采用奇异摄动方法将双连杆柔性机械臂系统分解为慢变和快变两个子系统，并对慢变子系统采用滑模控制方法设计了控制器。

The paper used singular perturbation method to separate the Two-link Flexible Manipulator system into slow sub-system and fast sub-system and designed controller using Sliding Mode Co.

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本文中采用奇异摄动方法将双连杆柔性机械臂系统分解为慢变和快变两个子系统，并对慢变子系统采用滑模控制方法设计了控制器。

The paper used singular perturbation method to separate the Two-link Flexible Manipulator system into slow sub-system and fast sub-system and designed controller using Sliding Mode Co.

youdao