The inner-loop controller is composed of a third-order ESO, a linear proportional-derivative control law and a static decoupling law.

内环控制器由三阶ESO、线性比例微分控制律和静态解耦律组成。

youdao

Then, this thesis applies IP control algorithm to change controller in outer loop but not in inner loop based on basic double closed loop control system.

然后，本文在传统双闭环控制的基础上，内环的控制算法不变，改变外环控制器的设计算法，主要采用IP控制方案。

youdao

Proportional controller can be adopted concerning the fast response of inner loop. Thus the design of whole system is very simple.

考虑内环的快速性，外环可以采用简单的比例调节器，从而整个数字双环控制系统的设计非常简单。

youdao