考虑建模误差，采用反步法设计了自适应舵角控制律。

An adaptive rudder controller was designed by using back stepping method with consideration of model errors.

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受到结构弹性变形的影响，随着飞行动压的增加，舵面的操纵效率不断下降，副翼甚至会出现操纵反效现象；

Due to the influence of the elastic deformation of flexible structures, the efficiency drops constantly with the increase of the dynamic pressure, which even causes aileron reversal.

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