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通过建立视觉反馈系统的模型和视觉伺服的公式化模型，对特征信息法作理论公式的推导，讨论线性模型的稳定性和可控性，推导最优控制律．
Through the establishment of the model of visual feedback system and the visual servoing model, the characteristic information method is used to deduce the theoretical formula, the stability and controllability of the linear model are discussed, and the optimal control law is deduced.