Definition of control redundancy and sufficient conditions of Pseudo inverse reconfiguration were given.
给出了系统的控制余度定义和伪逆重构条件。
It is difficult to design the closed loop gain shaping controller when the controlled plant is not a square matrix, because it is involved in the pseudo inverse of matrix.
在被控对象为非方阵的系统中，由于求解控制器时涉及到矩阵求伪逆问题，很大程度上增加了闭环增益成形算法的难度。
Kinematic simulation of a four celled tetrahedron tetrahedron variable geometry truss manipulator is carried out. Results show that our method is better than the pseudo inverse method.
并对四重四面体的变几何桁架机器人进行仿真计算，与伪逆法求解进行了比较，证明了方法的优越性。
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