因此以一种新的方法，即利用多项式代数理论设计出能完全跟踪目标值的有限签定时间伺服系统。
This paper USES multinomial algebra theory to design the smallest finite time servo system. It can completely follow in the wake of command.
证明了新的控制器一方面保证了运动的完全跟踪，另一方面保证了力跟踪误差是有界的且界的大小是可以调节的。
It is proven that the new controller can guarantee the perfect motion tracking. On the other hand, the force tracking error is bounded with the bound being adjustable.
迭代学习控制的基本思想是基于输出信号与给定目标轨迹的偏差不断修正不理想的控制输入信号，实现在有限时间区间的完全跟踪任务。
The idea of ILC is to gradually revise imperfect control input using the error between system output and the desired trajectory and realize perfect tracking in a finite time interval.
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