To against variety of load inertia, a zero pole placement self tuning regulator basing on inner model is designed in the outer loop.
外环则针对负载转动惯量的变化，设计了基于内模原理和零极点配置的自校正控制器。
The outer loop's design is to use a self tunning regulator such as zero pole placement (with real time identification).
外环的设计则引入自校正控制器——零极点配置控制器（含实时参数辨识）。
Zero placement method in the frequency domain is utilized to design robust multi-hump EI optimal arbitrary time-delay filter (OATF) by placing two or more filter zeros nearby the system poles.
采用频域的零点配置方法，通过在系统极点附近配置多个滤波器零点设计强鲁棒性的多峰极不灵敏（E I）最优随机时滞滤波器。
Zero placement method in the frequency domain is utilized to design robust multi-hump EI optimal arbitrary time-delay filter (OATF) by placing two or more filter zeros nearby the system poles.
采用频域的零点配置方法，通过在系统极点附近配置多个滤波器零点设计强鲁棒性的多峰极不灵敏（E I）最优随机时滞滤波器。
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