System stability is prone to be guaranteed by using the proposed control method due to the fact that the modal control law is designed directly from time-delay differential equation.

由于模态控制律直接通过时滞微分方程而得出，因此所给控制方法易于保证控制系统的稳定性。

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The differential equation of motion of the system is first transformed to a state-space model with time delay control input.

首先将系统的运动微分方程改写成状态空间模型，其控制输入中存在时滞。

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