The model structure was designed based on the analysis of technology and experiment data as well as forecast target.

根据对工艺和实验数据的分析及预测目标等条件，确定了模型的结构。

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First, the mathematic model of joint position servo control system is deduced, then, the sliding mode variable structure control rule is obtained, finally experiment study is carried through.

首先推导了下位机关节位置伺服控制系统的数学模型，然后推导了在上位机上实现的滑模变结构控制率，并进行了实验研究。

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Based on the crystal structure, the mechanism of magnetic memory metal diagnosis is analyzed from the view of theory and experiment, and system model is established.

本文从晶体结构出发，在理论上和实验上分析了金属磁记忆检测的机理，并建立了系统模型。

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