This system employs a dynamical compensator, which can ensures the steady-state output error under disturbances to be zero, satisfying the dynamic requirements.
这类系统利用一个动态补偿器，保证了干扰作用下系统输出的稳态误差为零，且动态特性满足设计要求。
On the basis of the trajectory on the phase plane and Lyapunov' s direct method, switching line is introduced for controlling static compensator under large disturbance.
根据相迹方程和李亚普诺夫直接法提出了在大扰动下控制静止补偿器的开关线。
Under this condition, a new decoupling PID control strategy is proposed, which appended decoupling compensator in the PID loop.
该方案在PID回路中加入解耦补偿器，以实现对多变量的解耦控制。
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