外环则针对负载转动惯量的变化，设计了基于内模原理和零极点配置的自校正控制器。

To against variety of load inertia, a zero pole placement self tuning regulator basing on inner model is designed in the outer loop.

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结果表明，在一定的负载转动惯量下，控制系统具有较好的动态响应特性、准确性和稳定性。

Results show that the control system has better characteristics in a certain moment of inertia of the load such as responsibility, accuracy and stability.

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针对多轴转台中负载转动惯量和干扰力矩的不确定性，提出了一种离散的模型参考自适应控制方法。

In view of the uncertainty in the load moment of inertia and the disturbance of test table with three or more axes, a discrete time model reference adaptive control is presented in this paper.

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