College of Mechanical Engineering, Yanshan University, Qinhuangdao, China;
College of Mechanical Engineering, Yanshan University, Qinhuangdao, China;
Engineering Research Center of Advanced Forging & Stamping Technology and Science, Yanshan University, Qinhuangdao, China;
Position; Control; System; Force; Control; System; Diagonal; Matrix; Method; Decoupling; Control;