stable closed loop control 稳定闭环控制
On control, speed closed loop controlling based PID is utilized and the stable run of motor is realized.
在控制方法上采用基于PID方法的速度闭环控制，实现了电机的稳定运转；
By this linearization model, the speed tracking control law is designed to increase the celerity of speed tracking while keeping the whole closed loop system stable.
通过此方法设计的速度跟踪控制，在保证整个闭环系统稳定的情况下，提高速度跟踪的快速性。
By introducing integral variable structure and high gain observer, the closed-loop control systems is shown to be globally stable in terms of Lyapunov theory, with tracking error converging to zero.
通过引入积分型变结构切换函数及高增益误差观测器，基于李雅普·诺夫稳定性理论，证明了闭环系统是全局稳定的，输出跟踪误差都收敛到零。
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