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本文介绍了一种在工业机器人控制系统中较为先进的控制技术，引入了理查德Ｍ弗伦教授提出的伪微分反馈控制技术和设计参数的简易计算方法，文中还给出了阀控液压马达位置伪微分反馈控制伺服系统的设计和部分实验结果。
This paper introduces a more advanced control technology in the industrial robot control system, introduces the pseudo-differential feedback control technology and the simple calculation method of the design parameters proposed by Professor Richard M. Fren, also gives the valve-controlled hydraulic Design and Experimental Results of a Pseudo - Differential Feedback Control Servo System with Motor Position.