利用多重时间尺度奇异摄动理论，结合非线性动态逆方法设计了基本姿态控制器，包括快逆回路和慢逆回路两部分。
According to the singularity perturbation theory, dynamic inversion is adopted to design the basic attitude controller including fast inverse loop and slow inverse loop.
这种控制方法具有超调小，调整时间快，精度高的特点。
This controlling method possesses the features of smaller overshoot, shorter adjusting time and higher precision.
实验结果表明：系统的超调量较小，响应时间快，所采用的控制方法简单易行。
Results of experiment show that the system has little dynamics excess, short response time and the method adopted is simple and feasible.
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