Due to transmission error of harmonic system, the result is that agencies cannot accurately perform sched uled transmission. In order to compensate transmission error of harmonic gear system, firstly, this article analyzes the har monic gear transmission system. And,according to the mechanics model of the harmonic gear transmission system, the sys tem onlinear dynamics differential equations are established, considering the harmonic gear friction, toional stiffness, backlash, transmission errors, and other nonlinear factors. Secondly, PID controller is used to control the system. In or der to ...