The winch of inner loop and speed regulator are researched by means of classical control theory.
分别利用经典控制理论研究了绞车部分的内环、速度调节器；
But whether classical control theory or modern control theory need to know the mathematical model of the controlled plant.
但无论是经典控制理论还是现代控制理论，都需要事先知道被控对象的数学模型。
Finally, parameters of the HVDC small signal modulator are tuned based on root locus rules of the classical control theory.
最后基于经典控制理论的根轨迹法整定直流小信号调制器参数。
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