The disturbance feed forward conpensation is used to countervail the disturbance in realtime and the conventional feed back controller is used to ensure the stability and good dynamics.

• 利用扰动前馈控制器实时补偿系统中的扰动力矩，而利用常规反馈控制器保证了系统的良好的动态特性，并将其应用于实际系统中。