一个高阶被控对象含有几个小时间常数惯性环节时，可简化成低阶时滞系统。
When a high order controlled plant contains several small time constant inertia units, it can be simplified to low order time-delay system.
控制器具有强鲁棒性，在电机对象参数（如转动惯量、电磁时间常数等）大范围变化时，仍然保持良好的控制性能。
The controller has strong robustness on condition that the parameters of motor plant such as R, Cm, CD2 change.
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