本文给出了具有完全线性动力学和控制的IR结构的精确概念。这些线性模型的优点很多:它们需要最少的计算次数，可以使用简单的微处理器实时执行，不需要使用非线性控制律，并且使用相同的执行器，它们允许IR的更高工作速度。通过一些结构变化，也可以通过平衡使现有IR线性化。

THIS PAPER PROVIDES THE PRECISE CONCEPT OF CONSTRUCTION OF IR WITH COMPLETELY LINEAR DYNAMICS AND CONTROL. ADVANTAGES OF THESE LINEAR MODELS ARE MANY: THEY REQUIRE MINIMUM NUMBER OF COMPUTATIONS WHICH CAN BE PERFORMED IN REAL TIME WITH USE OF SIMPLE MICROPROCESSORS, THEY DO NOT REQUIRE USE OF NONLINEAR CONTROL LAWS, AND WITH THE SAME ACTUATORS, THEY ALLOW HIGHER WORKING SPEEDS OF IR. IT IS ALSO POSSIBLE, WITH SOME CONSTRUCTIONAL CHANGES, TO LINEARIZE THE EXISTING IR BY BALANCING.