As far as the scope ofcompensation, it's necessary to establish limited compensation rule. However, limiting such loss is depended on the design of reasonable tools to limitcompensation.
就赔偿范围而言，确立有限赔偿规则是十分必要的，而对该类损失的限制又依赖于合理限赔工具的设计。
2
The experimental results show that the direct compensation can eliminate the limit cycle, and improve the precision of the system combine precision compensation.
The obtained optimal control law consists of analytical linear feedforward and feedback terms and a nonlinear compensation term which is the limitof the adjoint vector sequence.