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Additionally, a state-space observer was designed to estimate the sideslip angle, which was difficult to measure directly. 由於質心側偏角信號難以直接測量，設計了狀態觀測器對該信號進行估計。
An observer of standard state space systems is designed by using well-known techniques, so the input decoupled observer of the singular linear systems is obtained. 用大家熟知的方法設計正常狀態空間系統的觀測器，從而得到廣義系統的輸入解耦觀測器。