FIRA机器人足球比赛，功能齐全，尤其是进攻方面比较好，参加比赛的选手可以-FIRA robot soccer, the function is all ready, especially the offensive is better, participate in the competition of player can have a look

当信噪比较大时，采用广义最小二乘法可能会出现多个局部收敛点，解决这个问题的方法可用多级最小二乘法，一般来说多级最小二乘法包含三级辨识过程。利用输入输出数据，通过多级最小二乘法，可分别求的辅助模型，过程模型和噪声模型的参数估计值。在高噪声的情况下，多级最小二乘法明显优于广义最小二乘法，其收敛点唯一。-When the signal noise ratio (SNR), and by use of the generalized least squares method may appear mor