The main problems which invariant theory research are the set of generators of invariants, the defining relations of the generators of invariants, the structure of invariant ring, and so on.
不变理论研究的主要问题是不变环的生成元集合，生成元之间的定义关系及环结构等等。
By applying the structure invariant theory in the control strategy, the feedforward-feedback control theory is applied in the control system design to reduce the redundant force.
论文从控制系统的结构方面，利用结构不变性原理，针对位置扰动设计专门的前馈补偿控制器，减小位置扰动的影响。
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