According to the singularity perturbation theory, dynamic inversion is adopted to design the basic attitude controller including fast inverse loop and slow inverse loop.
利用多重时间尺度奇异摄动理论，结合非线性动态逆方法设计了基本姿态控制器，包括快逆回路和慢逆回路两部分。
Firstly, the whole control system can exhibit satisfactory dynamic result only by perfect matching the controller and composite pseudo linear system in the generalized inverse control.
首先，在广义逆系统控制中，控制器必须与复合伪线性系统的传递函数相互配合才能使整个控制系统达到满意的动态控制效果。
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