Based on the internal principle, a servo-compensator was introduced such that the control system could present strong robustness, and also eliminate steady state errors when tracking with commands.

• 根据内模原理，引入伺服补偿器，使设计的控制系统不仅具有较强的鲁棒性，而且在用于指令跟踪时能消除稳态误差；