该方法根据模糊控制规则和实际工程经验，在基本模糊控制的基础上增加了一个系数自整定积分器。

In this method the self-adjusting integrator is adopted together with basic fuzzy control, according to the fuzzy control rule and practical experience.

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本文证明对低于4维的仿射非线性系统，可通过可逆动态状态反馈线性化的系统一定可通过加积分器线性化。

In this paper, we prove that invertible dynamic feedback linearizability is equivalent to linearizability by adding integrators for up to 4 dimensional affine nonlinear systems.

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