这一算法简单，易于在线实时控制，并且消除了美坂佳肋所给前馈最优算法所产生的稳态误差。

It is simple for calculation, easy to be implemented for on line control, and free from steady state error produced by the algorithm given by Yoshisuke Misa-ka.

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1951年，日本，歌舞伎剧场，演员坂东三津五郎在上台之前，在自己的换衣间中的神龛前祈祷。

Japan . kabuki theatre . actor bondo mitsugoro praying in front of an altar in his dressing room , before going on stage . 1951

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