In unify time-order control, the system has discrete control characteristic.

在系统的统一时序控制之下，系统具有离散控制的基本特性。

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Then, through solving the slow time-scale problem by optimal control theory, the optimal reduced-order reference trajectory is obtained.

然后，应用最优控制理论得出慢时间尺度上的解，并将其作为降维后的最优参考轨迹；

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In order to meet the request of on-line and real-time control of robot and enhance the precision it puts forth way of error-compensation using repetitious calculation.

为了满足机器人在线实时控制的要求及进一步提高运算精度，提出用迭代计算进行误差补偿的方法。

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And, tapping his auto parts experience, he introduced the just-in-time inventory-control system and lean manufacturing, which emphasizes reducing wasteful processes in order to make better products and respond quickly to customers.

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