以下为句子列表：
英文: As a result, a high robust controller was easily accomplished, consisting inner-loop, the current loop, outer-loop, the position loop, pre-filter controller, feedforward controller, repetitive controller, and disturbance observer.
中文: 该控制器由内环的电流控制器和外环的位置控制器、前置滤波器、前馈控制器、重复控制器和扰动观测器组成。
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