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应用δ变换的方法，对液压系统进行离散化，并构成液压离散自适应控制系统，使当系统采样周期较小时，由于ｚ变换而产生的非最小相位系统变成为最小相位系统．文中较详细介绍了δ变换，δ－ＭＲＡＣＳ，并通过大量的仿真及实物试验研究，说明通过δ变换离散化的液压离散自适应控制系统的有效性和适用性．
The method of δ transformation is used to discretize the hydraulic system and form a hydraulic discrete adaptive control system. When the system sampling period is small, the non-minimum phase system due to z transform becomes the minimum phase system. In this paper, δ transformation and δ-MRACS are introduced in detail, and the effectiveness and applicability of discrete hydraulic discretization control system by δ transformation are demonstrated through a large number of simulation and in-kind experimental studies.