Due to the inherent nonlinearities and instability of the electromagnetic suspension system, suspension control is key point. So it is needed active control in order to keep steady suspension.
对于电磁吸浮型磁浮列车，悬浮控制是其关键部分，由于该系统的非线性和不稳定性，需要通过主动控制使其稳定悬浮。
From the control point of view it exemplifies a high order non-linear complex system with significant cross-couplings.
从控制的观点看，它是一个具有强耦合的高阶非线性复杂系统。
Through designing and realizing foot sensor system, this research is order to on-line access ZMP point, and use it as walking stability criterion to control humanoid robot achieve stable walking.
本文以ZMP稳定性判据作为仿人机器人步态行走的稳定性判据，主要研究如何设计并实现仿人机器人脚底传感系统在线获取ZMP，并对机器人进行稳定性控制。
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