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 existence of the bounded solution of unstable internal dynamics is the key to tracking reference trajectory stably.
研究表明，不稳定内部动态有界解的存在性是非最小相位系统能够稳定跟踪期望输出轨迹的关键。
3
The concentration of fixed chloride of internal electrode solution was measured by chloride ion selecting electrode (as reference electrode).