根据机器人使用的硬件可以选择控制器。

A choice of control electronics is available depending upon the robotic hardware that is being used.

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通过适当选择控制器参数，可以保证闭环系统是全局渐近稳定的。

By the proper choice of the controller parameters, the global stability of closed-loop system is guaranteed.

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更多细节参见“路由与动作选择”(本教程系列的下一小节—译者注)，它精确地描述了框架如何把URI匹配到路由、如何选择控制器、以及随后选择动作进行调用。

For more detail, see Routing and action Selection, which describes exactly how the framework matches a URI to a route, selects a controller, and then selects the action to invoke.

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