This controller has some advantages: when the initial error is large, the PD feedback part plays main role, and it avoids too large initial torque output;
该控制策略的优点在于当初始误差较大时，PD反馈部分起主要作用，而非线性PD的采用又避免了过大初始力矩输出；
In the initial 7.0 version of Lotus Domino, a 404 Not Found error was generated in this situation, which was a little less clear.
在Lotus Domino的初始7.0版本中，这种情况会生成一个404 Not Found错误，其明确性略逊。
You have to follow complex, and in some cases, error-prone processes to create the initial template and to replicate the development environment.
您必须按照复杂的、在某些情况下易错的流程来创建初始模板和复制开发环境。
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