Through and intensive investigation they have finally obtained abundant first-hand information.
通过深入的调查研究，他们终于取得了大量的第一手资料。
First, the mathematic model of joint position servo control system is deduced, then, the sliding mode variable structure control rule is obtained, finally experiment study is carried through.
首先推导了下位机关节位置伺服控制系统的数学模型，然后推导了在上位机上实现的滑模变结构控制率，并进行了实验研究。
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