In order to apply well to the process with time delay, a model-free predictive control law for the PSD is proposed which scheme is based on the asymptotical stability in delay-free PSD system.
为了更好地应用于时滞过程，利用无时滞psd系统渐近稳定的特点，提出了无预估模型的PS D自适应预估控制算法。
Finally, the control stability was discussed and it was found out that trim Angle control is a simple and effective method to make the submersible stable near the free surface.
对控制稳定性进行了讨论，发现纵倾角控制是使潜体近水面稳定的一种简单而有效的方法。
Finally, the control stability was discussed and it was found out that trim Angle control is a simple and effective method to make the submersible stable near the free surface.
对控制稳定性进行了讨论，发现纵倾角控制是使潜体近水面稳定的一种简单而有效的方法。
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