考虑到系统中存在气动参数、外界扰动和执行机构动态特性等不确定因素，设计了鲁棒自适应补偿项；
Taking into account the existing uncertainties of pneumatic parameters, external disturbances and dynamic characteristics of actuator, the robust adaptive compensation is designed.
考虑到系统中存在气动参数、外界扰动和执行机构动态特性等不确定因素，设计了鲁棒自适应补偿项；
Taking into account the existing uncertainties of pneumatic parameters, external disturbances and dynamic characteristics of actuator, the robust adaptive compensation is designed.
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