设计了一种受生物启发的变结构模型跟踪控制算法，其设计简单，参数调整容易。
A biologically inspired variables structure model-following control algorithm is proposed, which is simple in design and easy to regulate the parameters.
多面体链环是这些生物体的结构模型，在一定程度上，反映了生物分子的一些拓扑性质。
Polyhedral links are the structure model of these biomolecules, and reflect their topological properties in a degree.
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