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本文在研制一个双轴目标跟踪系统中针对其方位轴系统固有的柔性结构提出了一种简化数学模型。在此基础上建立一种非线性状态观测器，并证明了其收敛性，然后设计出可保证渐近稳定的控制器，最后给出了仿真实验结果。
In this paper, a simplified mathematical model for the inherent flexible structure of azimuth axis system is proposed in the development of a two-axis target tracking system. On this basis, a nonlinear state observer is established and its convergence is proved. Then a controller that can guarantee asymptotic stability is designed. Finally, the simulation results are given.