All algorithms can not be used in incomplete controllable system direct.
没有可直接用于不完全能控系统极点配置的算法。
Underactuated manipulator system is a typical second-order nonholonomic dynamic systems and isn tan entirely controllable system.
欠驱动机械臂系统是一种典型的二阶非完整约束动力学系统，属于非完全可控系统。
The unactuated joints can't be controlled directly, so it is an incomplete controllable system. Smooth feedback control is invalid for such system.
因为非驱动关节不能直接控制，系统属于非完全可控系统，一般的光滑反馈控制方法对这样的系统是无效的。
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