并在研究扰动引起的稳态误差、系统结构及和参数之间关系的基础上，设计了控制系统的扰动补偿器。
A disturbance compensator for the control system is designed on the basis of studying the stability error caused by disturbance, the relation between system structure and parameters.
根据相迹方程和李亚普诺夫直接法提出了在大扰动下控制静止补偿器的开关线。
On the basis of the trajectory on the phase plane and Lyapunov' s direct method, switching line is introduced for controlling static compensator under large disturbance.
然后，在该自适应控制器的基础上，采用衰减控制策略设计鲁棒补偿器，实现对扰动的抑制。
Firstly, a parameter adaptive control was developed using a Lyapunov-based design that employs a parameter projection algorithm without regard to the unmodeled dynamics or disturbances.
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