Based on the singular perturbation theory, the attitude control system is divided into two loops, a fast loop and a slow loop, and TLC controllers are designed for them respectively.

• 根据奇异摄动理论，将飞艇姿态系统分成内、外两个回路，依据轨迹线性化方法(TLC)分别设计了内回路控制器和外回路控制器；