The paper analyses the implementary arithmetic in the servo system with saturation and lag segment, and analyses the performance of the close loop to obtain the condition of stability and robustness.

详细分析了预测函数控制在具有参数饱和限制环节和滞后的机电伺服系统中的实施算法，分析了系统的闭环性能，并得到了其稳定鲁棒性条件。

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