缺少了这个基础环节，采用任何超前探测方法都很难取得好的效果。

Without this basic procedure, it is difficult to achieve good results even if advanced detection methods are adopted.

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调整超前滞后环节的补偿角度使信号相位相对于时滞作用反向偏移，从而削弱时滞对系统动态性能的影响。

The angle compensation provided by lead and lag component is contrary to the angle excursion caused by time delay. So the influence of time delay will be decreased.

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该算法中在输入参考信号处直接增加一个比例增益环节，在信号发生器处串联一个超前的时滞环节，并且用一个二阶低通滤波器作为控制系统的补偿函数。

The repetitive control algorithm includes scalar gain of the reference input with a lead block in the signal generator. A second-order low-pass filter provides compensation in the controller.

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