基于电机闭环系统辨识的数字前反馈控制。采用零相差前反馈控制器，实现系统在全频范围内相移为零，系统输出高精度地跟踪输入指令。-Motor closed-loop feedback control based on system identification numbers before. Using zero difference before feedback controller, the system in the whole frequency range of the phase shift is zero, the system output accurately track the input command.