Objective To understand the regularity of angular deformity correction and prevent the complications of limb lengthening.
目的了解、掌握肢体延长过程中成角畸形矫正的规律，避免并发症。
This design is the use of leading correction principle, finally meet the performance index of a control system open loop gain, phase margin, angular frequency requirements.
本设计利用超前校正原理，最终满足对控制系统性能指标开环放大系数、相角裕量、截止角频率的要求。
For each discretized angular speed, the control law is derived from the generalized linear quadratic objective performance function including residual vibration measurements and imbalance correction.
针对每个离散角速度，依据影响系数法，采用包含残余振动值和校正不平衡的广义线性二次型目标性能函数推导出控制律。
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