The results of test show that this inverse model feed-forward compensator has effectively reduced the non-linear error of the system and has improved the control precision of GMA.

实验结果表明，逆模前馈补偿器有效地减小了系统的非线性误差，提高了执行器的控制精度。

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An improved binary code method was proposed, which introduced several parameters to conveniently control the solution precision and search space.

提出了一种改进的二进制编码方法，引入若干参数用以方便地控制了解的精度和搜索空间。

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The compound control technology, the predictive filtering technology also obtains the utilization. In the precondition of the system's stabilization, the system 's precision has improved greatly.

复合控制技术、预测滤波技术也得到运用，在保证系统稳定的前提下，系统精度得到很大的提高。

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