通过引入积分型变结构切换函数及高增益误差观测器，基于李雅普·诺夫稳定性理论，证明了闭环系统是全局稳定的，输出跟踪误差都收敛到零。

By introducing integral variable structure and high gain observer, the closed-loop control systems is shown to be globally stable in terms of Lyapunov theory, with tracking error converging to zero.

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基于李亚普诺夫方程的状态反馈增益算法是极点配置算法中比较常见的一种。

Lyapunov Equation based algorithm for calculating state feedback gain is a comparatively normal algorithm used in pole assignment.

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