用正弦和理论建立了信道的确定性仿真模型，并用等面积算法和等距离算法确定了模型的参数。
The paper establishes the deterministic simulation model using the theory of sine summation. The model parameters are determined using the Method of Equal Distances and the Method of Equal Areas.
仿真结果表明：即使系统存在不确定性和外界干扰，仍可在闭环系统中实现精确的姿态控制。
Simulation results show that, in the closed-loop system, precise attitude control is accomplished in spite of the uncertainties and external disturbances in the system.
仿真结果表明，该控制器对系统参数的不确定性和有界干扰具有一定的鲁棒性，并能保证闭环系统全局稳定。
The simulation result shows that the controller is robust to some nonlinear uncertainties and bounded disturbance, and it can guarantee the global boundness of all closed-loop signals.
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