The expression of output-torque error is given at the point of singularity, proving the incompatible relationship between the gimbal rate and the output-torque error.
给出了在奇异点处输出控制力矩误差的表达式，并证明了框架角速度和输出力矩误差之间的不可调和性。
The method of establishing a balance between the gimbal rate and the output-torque error is discussed, and a new steering law is designed.
讨论了在框架角速度和输出力矩误差之间建立平衡的方法，并设计了一种新的操纵律。
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