Based on the exact feedback linearization technique, the system was firstly decoupled into three independent SISO subsystems, and then controllers for each subsystem were designed. 首先基于精确反馈线性化方法将系统解耦成三个独立的子系统,然后应用基于PID神经网络的自适应逆控制方法分别设计每个子系统的姿态控制器。
The system was decoupled into 1 or 2 rank subsystem by setting the equivalent input. 由设置等效输入,将系统等效解耦为一阶、二阶线性子系统;
Cascading the neural network inverse system with the original system, the system is decoupled into two independent pseudo-linear subsystems, speed subsystem and rotor flux subsystem. 再把得到的逆系统与原系统复合,将系统线性化解耦为转速与转子磁链两个相对独立的伪线性子系统。