仿真结果表明该系统有较好的控制性能和辨识效果，但参数变化对速度辨识误差有明显的影响。
Simulation results show that the system has better control performance and estimation effect, but the influence of parameters variation on speed estimation error is evident.
该方案具有通用性强、易于实现、开销低等优点，同时加速效果明显，仿真时间减少了约35%。
This scheme has the merit of strong commonality, easy to implement, low cost and has significant effect of acceleration: the simulation time has reduced by about 35%.
对倒立摆二阶子系统的仿真，实验表明跟踪性能改善的效果是明显的，证明控制器的设计是合理和有效的。
The simulation experiments on the second subsystem of the inverted pendulum show that the effect on improving tracking performance is prominent and the controller's design is reasonable and available.
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