本文将钟万勰院士提出的精细积分法应用到载荷识别中去，得到了在不同输入输出条件下的载荷识别公式。

Precise integration method is used in this paper to the problem of loading identification and loading identification formulas in variant input and out put conditions are gotten.

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这些条件也可用来解决实际控制系统的动态输入输出解耦问题。

These conditions can be used to solve the decoupling problem of dynamic input and output of an actual control system.

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同时给出了输入输出维数相等时的解耦并完全线性化的充要条件。

When the output vector dimensions equal to the input vector dimensions, the necessary and sufficient conditions for decoupling and complete linearization to nonlinear system are given.

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Computing square root. I'm going to capture it in a piece of code, I'm going to be able to refer to it by a name, and I'm going to suppress the details, meaning inside of that computation, you don't need to know what it does. You just need to know, if I give it the right kind of input, it'll give me back an input that satisfies the contract that I set up.

比如计算平方根,我会用一段代码来说明,我将给它命名,并且忽略细节,意思就是在这一段计算过程中,你不用知道它做了什么，你只需知道，如果我进行了正确的输入,它将会给我符合条件的输出。

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