This paper proposes the concept of Minimum Closed Loop of free curve set, and presents two properties of Minimum Closed Loop.

文章提出了自由曲线集最小闭环的概念，给出了最小闭环的两个性质。

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Finally, by using the concept and method of the Lyapunov function, a sufficient condition for the approximate stability in the large field of the closed-loop control system is derived.

最后，利用李雅普诺夫函数概念和方法得到了闭环控制系统具有大域渐近稳定性的充分条件。

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Using the mass dynamic substitution concept, the complete balancing of shaking force and shaking moment of closed loop spatial linkages may be reduced to that of open loop spatial kinematic chains.

其基本思路是通过质量动替代的途径，将空间闭链机构摆动力和摆动力矩的完全平衡转化为空间树状链摆动力和摆动力矩的完全平衡。

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