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The stability and small dynamic errors could be confirmed by using the method of composite control in which the pitch angular rate of barbette sensed by INS was feed back and compensated in advance.
用复合控制把惯导系统测量的炮塔俯仰转动角速度（扰动角速度）反馈到控制前端，进行预先补偿，可保证小的瞬态误差和系统的稳定性。
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