解耦控制、内模控制

Decouplingcontrolfortwo-axisinertiallystabilizedplatformbasedonaninversesystemandinternalmodelcontrol------Thispaperdescribesadecouplingcontrolschemeforatwo-axisinertiallystabilizedplatform(ISP)usedintheairbornepowerlineinspectionsystem.ThedynamicmodeloftheISPhasbeenobtainedbyusingthe