输入整形技术采用频域的零点配置方法设计多峰鲁棒输入整形器用来进一步减小负载的瞬时振荡，保障安全作业；
The transient vibration is reduced further for safety problems by the input shaping technique which utilizes zero placement method in the frequency domain to design multi-hump robust input shapers.
采用频域的零点配置方法，通过在系统极点附近配置多个滤波器零点设计强鲁棒性的多峰极不灵敏（E I）最优随机时滞滤波器。
Zero placement method in the frequency domain is utilized to design robust multi-hump EI optimal arbitrary time-delay filter (OATF) by placing two or more filter zeros nearby the system poles.
本文给出了一种利用PID加输出反馈来任意配置闭环系统极点和零点的简单实用的电液伺服系统设计方法，仿真设计实例表明了该方法的有效性。
This paper gives out a simple and practical method of designing electrohydraulic servo system by using PID plus output feedback to make arbitrary configuration of pole-zero in closed-loop system.
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