Supposing that the reference trajectory is generated by a stable system, the bounded solution of non hyperbolic internal dynamics is existed by using center manifold theory.
假设期望轨迹由某一稳定外部系统产生，利用中心流形的理论，证明了系统内部动态有界解是存在的。
2
The presence of homoclinic tangencies and homoclinic intersection makes it difficult if not impossible, to denoise or shadow the trajectory of a non-hyperbolic nonlinear system.