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本文介绍一种利用局部反馈和前馈复合控制方案，把开环控制的快速特点与闭环控制精度较高的特点相结合，在保证控制精度的前提下使系统频宽得到了很大提高，同时介绍了消除多余力的补偿方法。
This paper presents a combination of local feedback and feedforward control scheme to combine the fast characteristic of open loop control with the high precision of closed loop control. The system bandwidth is greatly improved under the premise of ensuring control precision. Meanwhile, The compensation method to eliminate excess force is introduced.