By using Lyapunovstabilitytheorem, both the stability of closed-loop system and the asymptotical convergence of tracking errors are ensured.
李亚普诺夫稳定性定理保证了闭环系统的稳定性及跟踪误差的渐近收敛。
2
It is showed by the Lyapunovstabilitytheorem that the tracking errors converge exponentially. The simulation results illustrate the efficiency of this method.