新算法不仅形式简单，便于数学处理和编程，而且使用方便，不需要任何数学预处理。
The form not only is simple and easy to be coded, but also has no requirement of any mathematical pretreatment.
为便于进行定性分析，对该数学模型进行了线性化处理。
The model was linearized for the qualitative analysis of the pneumatic system.
基于拉格朗日动力学分析方法，推导出倒立摆的运动方程，在对系统进行可行的近似化处理后，得出了便于分析的数学模型。
Movable equation of the inverted pendulum is derived, according to the dynamics analysis method of Lagrange. By system feasible approximation, an easily analytical math model is deduced.
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