仿真结果表明，比例微分控制在提高转向轻便性的同时能改善系统的稳定性，抑制大助力比例系数下转向盘的振动。

The simulation result shows that proportion differential control can improve the system stability and steering portability, and inhibit the vibration of steering wheel with big power ratio.

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在积分滑模控制与非线性微分控制中，分别给出了切换函数、非线性微分系数及控制器的设计方法。

Present the design method of switching function in integral sliding mode control, nonlinear derivative coefficient and controllers of DI-SVSC respectively.

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提出精细积分半解析法求解变系数的以超孔压和孔隙比为控制变量的渗压固结微分方程。

A precise time step integration method was proposed to solve the finite strain osmotic consolidation equation with varied coefficients.

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