对于本文来说，我们将着重介绍控制系统，以及在将其嵌入物理机器人之前可以对其进行仿真和验证的方法。
For this article, I focus on the control system and the ways in which you can simulate and validate it before spending time embedding it in a physical robot.
在从参考模型取状态MRAC方案的基础上，提出了混合自适应设计方法。文中给出详细的理论推导和仿真验证。
This paper presents a mixed self adaptive design method by taking the state MRAC scheme from a reference model. It gives a detailed theoretical derivation and simulation proof.
通过仿真验证了在电网电压存在畸变时，有源电力滤波器的补偿效果良好，且可以根据对谐波和无功电流灵活补偿。
The results of simulation verify this scheme is effective, and in this scheme APF can compensate harmonic and reactive currents with the distorted source voltages flexibly.
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