The system used double negative feedback, and the type of control is PI control.
系统采用双闭环负反馈控制，控制类型选择PI控制。
The key of this control way is the combination of forecast control and PI control.
关键是预测控制方法和PI控制方法的结合。
Using the variable argument PI control method, the force control of joint is studied.
采用变参数PI控制方法，对关节的力闭环控制进行了试验。
Using the variable argument PI control method, the force control of joint is studied.
采用变参数PI控制方法，对关节的力闭环控制进行了试验。
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