对并联型电力有源滤波器建立了数学模型，详细地分析了在全数字控制下，谐波指令的生成和电流控制器的设计。
Having established the mathematic model of a parallel active power filter, this paper has analyzed the generation of harmonic current order and the design of its current controller in detail.
以参数化控制策略模型和PID控制律为基础，可规划控制指令轨迹并设计航向控制器。
The parameterization model was combined with a PID controller to control the yaw movement.
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