使用几何方法对单框架控制力矩陀螺群（包括转子恒速的CSCMG和转子变速的VSCMG）的奇异性进行了分析。

This research is focused on the singularity analysis for single-gimbal control moment gyros systems (SCMGs) which include two types, with constant speed (CSCMG) or variable speed (VSCMG) rotors.

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通过使用强大的矩阵几何方法，可以获得平稳系统状态概率分布。

Using a powerful Matrix-geometric method, the stationary probability distribution for the system states is obtained.

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