针对球磨机系统的多变量及非线性等特点，本文对球磨机系统进行对象特性分析，进行了模糊控制器的设计，并在PL C上采用结构化文本语言编程实现。

For the multivariable and nonlinear characteristics of ball mill system, analyzed the characteristics of objects, and designed fuzzy controller, which is realized on PLC using st programming language.

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最后，设计了以多变量内模控制器作为局部模型控制器的模糊多模型协调控制系统。

At last, the fuzzy multi-model coordinated control system which USES multi-variable inner model controller as the local controller has been designed.

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本文以机器人为研究对象，针对其强耦合、非线性、多变量等特点，提出了一种模糊神经网络控制器组成的控制系统。

This paper USES robot as researched object that is of strong coupling, nonlinear and multi-variable characters. A control system is proposed which consists of a fuzzy neural network controller.

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