Moreover, we present a new and efficient method suit to design stepwise controller just like those in this paper, which is called the decomposition and composition of a finite state machine.

此外，在控制器的设计中提出了一种新的方法—有限状态机的分解与合成，该方法灵活有效，且设计简单，尤其适合设计步进式状态机。

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Finally, using nonsingular terminal sliding mode technology, a feedback stabilizing controller which can make the closed loop system converge to equilibrium in finite time is given.

最后，利用非奇异终端滑模控制技术，得到了一种使闭环系统有限时间收敛到平衡点的反馈镇定控制器。

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The resulting controller is a finite impulse response (FIR) filter and hence problem of non-minimum phase zero cancellation is avoided.

这种控制器给出了避免非最小相位过程零极点对消的有限脉冲响应滤波器。

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