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对广泛应用于操作和加工机械控制的伺服驱动系统动力学及控制综合特性进行了分析，提出了反馈约束的概念。结构在受控运动中，约束形式会发生变化，相应的约束方程也随之改变且约束方程的形式一般为复杂的非线性方程。同时证明了这种动力学意义上的约束概念实际上是由于伺服系统中位置和速度反馈环节的调节作用形成的对结构运动约束的现象。通过分析得出了描述这种约束特性的反馈约束回线，分析表明，这种约束具有间隙型非线性特性。
The dynamics and control general characteristics of the servo drive system widely used in the operation and processing machinery control are analyzed, and the concept of feedback constraint is put forward. Structure In the controlled movement, the constraint form will change, the corresponding constraint equation also changes and the form of the constraint equation is generally complex nonlinear equations. At the same time, it is proved that the concept of constraint in this dynamic sense is actually caused by the restraint of structure motion caused by the regulation of the position and velocity feedback in servo system. The feedback constraint loop describing this constraint property is obtained through analysis. The analysis shows that this constraint has gap-type nonlinearity.