The buoyancy force moment balance equation imposed simplifies the multi-input twi-output coupling (system) into multi-input single output system.

将气囊浮力力矩平衡关系式引入方程组，使多输入双输出耦合系统简化为多输入单输出系统。

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For this generalized input, Nyquist criterion can be used to determine the stability of a multi-input-multi-output system as in a single-input system.

对于这一广义输入量，可以象单输入系统那样应用奈魁斯特准则来判别系统的稳定性。

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