[4] [4] Missie Aguado-Rojas, William Pasillas-L′epine, Antonio Lor′?a, et al. On the compensation of incremental encoder imperfections for motion control: A DC motor case-study［J］. ScienceDirect, 2018, 51(13): 627-632.

[6] [6] Mingyue Cui, Zhaojing Wu．Trajectory tracking of flexible joint manipulators actuated by DC-motors under random disturbances［J］. Journal of the Franklin Institute, 2019, 356: 9330- 9343 .

[7] [7] Song Song, WeibinLiu, RuxiangWei, et al. Path planning directed motion control of virtual humans in complex environments［J］. Journal of Visual Languages and Computing, 2014, 25(3): 772 -781.

[8] [8] ZHU Hai rong, LI Qi, GU Ju ping. Single-neuron adaptive PI control of the gyrostabilized platform based ondisturbance compensation［J］. Electric Machines and Control, 2012, 16(3): 65-77.

[9] [9] Wenyu Liang, Jun Ma, Cailin Ng, et al. Optimal and intelligent motion control scheme for an Ultrasonic-Motor-Driven X-Y stage ［J］. Mechatronics, 2019, 59(5): 127-139.

[10] [10] Manju Rani, Naveen Kumar. Harendra Pal Singh.Motion/force control scheme for electrically driven cooperative multiple［J］. Control Engineering Practice, 2019, 88(3): 52-64.

[11] [11] A Figueras, S Esteva, X Cuf, et al. Applying AI to the motion control in robots. A sliding situation［R］. IFAC(International Federation of Automatic Control), Hosting by Elsevier Ltd, ?2019, 52-8: 393-396.