4HILKERT J M. Inertially stabilized platform technology: concepts and principles [ J ]. IEEE Control Systems Maga- zine,2008,28( 1 ) :26-46.
5ZHOU X Y, XIN F F. Optimizing design of a balance weight unit for compensating POS unbalanced moment in an aerial 3-Axis ISP system[ J]. Advanced Materials Re- search,2011,311-313:227-231.
7MERZOUKI R, DAVILA J A, FRIDMAN L, et al. Back- lash phenomenon observation and identification in electro mechemical system [ J ]. Control Engineering Practice, 2007,15 (4) :447-457.