The robust trajectory tracking control strategy accounts for model errors and external disturbances using linear feedback theory for the non-linear system, which ensures system stability and li.

Accurate geometry! Non linear finite element increment equilibrium equation is set up by two orders theory. Typical structure stability is analyzed with this accurate finite element method.

The theory of iterative learning control was used to ensure the astringency and stability of ILC in single-in-single-out non-linear system.