The rendezvous and docking (RVD) between two spacecrafts in space involves both orbit control and attitude control with up to 12 degrees of freedom.
空间交会对接涉及到两个航天器同时要进行多达12个自由度的轨道和姿态控制问题。
VTOL aircraft is an under-actuated system with three degrees of freedom and two control inputs.
VTOL空间飞行器是具有三个自由度，两个控制输入的欠驱动系统。
Separate designs of a dual PID controller were presented based on the large time-varying robust digital PID control combining with two degrees of freedom internal model control structure.
在大时变鲁棒数字PID控制方法的基础上，结合二自由度的内模控制结构，实现了控制器参数的数字双PID分离设计。
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