扩展的卡尔曼滤波定位方法是一个常用的位置跟踪方法，但是在对非线性系统方程进行线性化近似过程中引入了线性化误差。
Extended Kalman Filter is an efficient tool for mobile robot position tracking, but it suffers from linearization errors due to linear approximation of nonlinear system equations.
运用线性系统理论分析了阵列波导光栅的模场特性，导出器件传输的数学模型即光栅方程。
The characteristic of arrayed waveguide gratings is analyzed with the linear systems theory and the optical grating equation is educed.
该控制方案既不需要线性系统的动力学方程的参数，也不知道任何实际的惯性参数。
The proposed control scheme need neither linearly parameterize the dynamic equations of system, nor know any actual inertial parameters.
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