The study is conducted in the following aspects: compensation method of the nonlinear characteristics, method of establishing linear model, control strategy and so on.
非线性补偿方法能够减弱系统的非线性强度，改善系统特性，降低系统的控制难度，也为建立更准确的线性模型打下了基础。
Owing to applying the model of sliding mode variable-structure control that has compensation of disturbance monitor, switching control function was controlled by sliding mode.
模型用带扰动观测器补偿的滑模变结构控制，对控制函数切换并受滑动模态控制。
The paper proposes the mathematical model and physical circuit of feedforward compensation control for this purpose and gives an example of its parameter design.
研究了前馈补偿控制的数学模型和实施电路，并提供了参数设计实例。
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