Based on a typical model of automatic gain control loop, AGC loop static micromotion equation and dynamic motion equation were simplified using the logarithm expression.

基于一种典型的自动增益控制(agc)环路的模型，采用对数表示方式，简化了AGC环路的静态微动方程和动态运动方程。

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But the robust performance is improved obviously when the closed loop gain shaping control algorithm is introduced into the ship motion system on the basis of neural network control in the thesis.

本文在神经网络直接控制船舶运动控制基础上，引入闭环增益成形算法构成闭环控制，以提高系统对环境干扰和过程参数摄动的鲁棒性。

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This design is the use of leading correction principle, finally meet the performance index of a control system open loop gain, phase margin, angular frequency requirements.

本设计利用超前校正原理，最终满足对控制系统性能指标开环放大系数、相角裕量、截止角频率的要求。

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