... 钟摆井底钻具组合：pendulum bottomhole assembly 钟摆技术：pendulum technique 钟;声响声;隆隆声;敲响：peal ...
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The controller of inverted pendulum is designed by using the loop shaping technique. GA is adopted to optimize the weighing functions.
该方法采用环路成形技术设计倒立摆控制器，对权函数采用遗传算法进行优化。
As an absolute unstable controlled system, inverted pendulum is a high order, nonlinear, strong coupling plant. So it may prove the ability of a new control technique in theory.
倒立摆系统是一个绝对不稳定的系统，具有高阶次、非线性、强耦合等特性，很多控制方法的验证都是通过对倒立摆的控制来实现的。
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