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Thus by nonlinear state transformation and nonlinear state feedback, the original 6 order nonlinear attitude model of a spacecraft is partially precisely linearized into a 2 order linear system.
这样通过非线性状态变换和非线性状态反馈，将飞行器原来的6阶非线性姿态模型部分精确线性化为二阶线性系统。
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