The position loop use the PD control algorithm, to increase the system's phase margin, reduce the system's oscillation and ensure that the control system has good dynamic characteristics.

位置回路采用PD控制算法，以增加系统相位裕度，减弱系统振荡，保证控制系统具有良好的动态特性。

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According to the essence of Pilot Induced Oscillation (PIO) and the theory of Closed-loop control, the mathematical model of Pilot-Plane system is set up.

本文根据驾驶员诱发振荡的实质，从闭环控制理论出发，提出了人-机系统数学模型，并在时域内进行了计算。

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Additional negative feedback is provided to set loop gain to unity at the oscillation frequency, to stabilize the frequency of oscillation, and to reduce harmonic distortion.

为了使振荡频率稳定并降低谐波失真，需要加入一个在震荡频率处能够提供单位增益的负反馈路径。

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