本文考虑到二阶非线性项，建立起更加精密的系统模型，推导出利用状态变分计算终端干扰偏差的公式。
In this paper we consider second order nonlinear terms, set up more precise dynamic system's model and derive the computation formula of terminal perturbation deviation by state variation.
基于TETRA数字集群移动通信系统开发的TETRA终端，通过数据业务可以发送和接收状态消息和短数据业务消息，利用短数据业务完成终端导航定位功能。
Terminal based on TETRA digital trunking mobile communication system could send and receive status and short data service message, and achieve navigation and location through short data service.
给出一种可行的双模控制方案，系统状态位于终端区外时采用提出的预测控制，在终端区内部采用离线设计的滑模控制。
The presented model predictive controller is implemented when system state is outside the terminal region, and sliding mode controller designed off line is used inside the region.
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