The vibration of the nonlinear pendulum is studied by means of linearization and correction method, the curves of the period ratio and the relative error is plotted.
应用线化和校正方法，研究了单摆的非线性振动，作出了周期比和相对误差随摆角的变化曲线。
Furthermore, a three-dimensional nonlinear formation controller based on relative error is designed and the tracking control law is obtained.
设计了基于相对误差的三维非线性跟随弹编队控制器，得到相应的跟踪控制律。
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