The flight state variables are separated into fast and slow variables in terms of perturbation theory. 根據奇異攝動理論將受控狀態變數分為快變數和慢變數，然後根據非線性動態逆理論分別對內環和外環進行設計。
For the rigid-link electrically-driven robot manipulators with small inductance, we propose a neural network trajectory-tracking strategy based on the singular perturbation theory. 摘要在驅動迴路電容較小的情況下，對電驅動剛性機器人操作手的軌跡跟蹤問題，提出了一種基於奇異攝動理論的神經網路控制設計方法。
