另外，本文第2章和第4章还对相关的控制算法进行了饱和控制的处理，使得控制力矩的最大值限制在容许的范围内。

In addition, some control laws in Chapter 2 and 4 are further modified on the basis of saturated control, then the maximum of the control torques will be constrained within the admissible range.

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后者采用控制力矩饱和约束和滑动模态设计，提高了控制系统的鲁棒性。

The latter is designed by sliding mode control under constraints of control torque saturation and improves robustness of the control system.

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基于饱和土弹性波动方程，研究了饱和地基上含刚核弹性圆板在摇摆谐和力矩作用下的振动特性。

The rocking vibration of a flexible circular plate with rigid core resting on saturated ground is studied.

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