根据该模块的几何特点，分析了模块的对接过程和相邻两模块对接的几何约束关系，给出了当存在几何及控制不确定性时，完成对接最基本的几何约束条件。
The docking process of the module was analyzed. When the uncertainty about control and geometry occurs, the basic geometric condition is analyzed to finish the docking action.
该方法具有公式简单，物理概念清晰，滤波点频率不受模块数取整的约束，便于连续控制滤波点频率的优点。
This method has several merits such as simple formula, clear physical conception, continuously controlled trap frequency that is independent on integral block number.
从约束控制的角度出发，将模块多变量控制与自校正调节器相结合，构造出一种新的多变量自校正调节器，并对此进行了仿真研。
From the point of constraint control, this paper constructs a new multivariable self tuning regulator combining modular multivariable control technique and self tuning regulator.
从约束控制的角度出发，将模块多变量控制与自校正调节器相结合，构造出一种新的多变量自校正调节器，并对此进行了仿真研。
From the point of constraint control, this paper constructs a new multivariable self tuning regulator combining modular multivariable control technique and self tuning regulator.
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