Based on nonlinear inverse system theory, the three time-scale separation method was put forward for decoupling and linearizing the strong coupling and nonlinear trajectory correction equations. On the basis of the system states dynamic characteristics, the system was separated into three subsystems. Then, the inverse system controllers were designed for these subsystems separately, and the linear controllers were also done for the linearized systems by the Lyapunov function method. Finally, with the Matlab simulation, it was verified the efficiency of the inverse system method, and compared the system's dynamic performance by selecting different loop bandwidths. The results indicate that the method is correct and effective.