...Nonlinear feedforward control, setpoint transition, system inversion, internal dynamics, input constraints, b[gap=388]关键词：非线性前馈控制，给定值过渡，系统反转，内部动力学，输入约束，边界值 问题，轨迹规划。
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为了进一步提高系统的动态性能，在非线性PI算法中加入了负载电流前馈补偿控制。
To improve further the dynamic characteristic, the non-linear PI arithmetic with the load-current forward compensating (LCFC) control is also improved.
由SVM辨识非线性系统的逆模型作为前馈控制器，形成直接逆控制。
SVM were used to identify the inverse model of nonlinear system, and this inverse model was used as feed-forward controller to design direct inverse control.
实验结果表明，逆模前馈补偿器有效地减小了系统的非线性误差，提高了执行器的控制精度。
The results of test show that this inverse model feed-forward compensator has effectively reduced the non-linear error of the system and has improved the control precision of GMA.
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