基于滑模控制技术，确保了该控制器能驱赶系统状态达到事先指定的滑动超平面，从而获得预期的动态性能。
Based on the sliding mode control technique, the controller can drive the system into a pre-specified sliding hyperplane to obtain the desired dynamic performance.
采用单位向量控制形式的最终滑动模态控制器，对满足匹配条件和不满足匹配条件的不确定性均适用。
The terminal sliding mode controller is designed by using unit vector style, and it suits the uncertain elements whether it satisfies the matching condition or not.
只需滑动控制器，脚穿进去时，压力传感器就会告知“智能鞋”，触发鞋跟的小发动机，将鞋带系紧。
Simply slip the trainer on and pressure sensors will tell the 'smart shoe' when your foot is in position, triggering a tiny motor in the heel that pulls the LACES tight.
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