Specifically, Lyapunov techniques are fused with LaSalle's Invariance Theorem to prove that the constructed nonlinear controllers achieve asymptotic regulation of the crane system.
本文通过将李亚普诺夫方法与拉塞尔不变性原理相结合，证明了所设计的控制算法能实现吊车系统的渐近镇定。
Adaptive controllers based on simplified linear and nonlinear models are studied by simulation and the results show that the latter has better property of convergence.
通过对基于简化线性和非线性模型的自适应控制器的仿真研究，结果表明后者具有更好的收敛性。
This controller consists of nonlinear backstepping controllers and a velocity observer to achieve the purpose of speed following.
该控制器包括非线性后推控制器和用来估计转速的转速观测器。
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