All of the terms in a linear equation are of the first degree.

线性方程中的所有项均为一次项。

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Features about the controlled object, helicopter, are first introduced briefly and a group of six free-degree, linear motion equation in combination with micro disturbance and couple are established.

首先对被控对象之一的直升机的特性进行了简单介绍，建立了直升机六自由度线性小挠动方程。

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