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.
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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;
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