The purpose is to make the mobile inverted pendulum move at the reference translational speed and rotational speed in the two-dimensional plane while keeping its link being balanced.
控制目标是移动式倒立摆在二维平面内按指定的移动速度和转动角速度运动，并且保持摆杆平衡；
2
The first is simply called translational correction of focal plane, the second is called pitching rotation correction.