A smaller residualset is gained in very weak conditions.
在较弱的条件下，得到了较小的残差集。
2
A smaller residualset is obtained in the more weak conditions, and the robustness of th.
在较弱的条件下得到了较小的残差集，从而提高了控制系统的鲁棒性。
3
By theoretical(analysis, ) the closed-loop control system is proven to be semiglobally uniformly ultimately bounded, (with) tracking error converging to a residualset.