Based on designing the observer, a switching strategy and sub-controller, which use the observer value, are designed to guarantee that the closed-loop system is exponentially asymptotically stable.
在所设计的观测器基础上，以系统状态的观测值为依据设计各子控制器和切换方案，使整个闭环系统是指数渐近稳定的。
The control system model consists of control strategy, sensors and actuators sub models. The control strategy is a PID controller.
控制系统模型包括控制策略、传感器和执行器模型，本文选用的控制策略为PID调节器。
The hardware of the system comprises the five sub-systems, i. e. welding power source, arc length controller, welding wire feeder, welding head traveller and detector.
此系统的硬件主要包括五个子系统，即：焊接电源、弧长控制器、送丝机构、焊矩行走机构和检测机构；
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