风起脶偏: distortion of the face due to pathogenic wind
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Against two kinds of nonlinear friction observers , the analytic expression of zero ve - locity interval t based on the nonlinear model of brushless dc motor system is deduced in this paper . simulation results indicate that the system performance at low velocity can be im - proved effectively using the friction observer based on coulomb friction model 针对两种不同的非线性摩擦观测器，推导了基于无刷直流电动机非线性模型的零速度时间间隔脶解析表达式，通过仿真证实，利用基于库仑摩擦模型的摩擦观测器可以有效地改善系统的低速控制性能。
