It is indicated that the low damping mode can augment the norm of the coprime factor perturbation and as a result the domain of the actual admissible perturbation is reduced.

论文中给出了控制器之所以会失去鲁棒性，是因为弱阻尼模态增大了互质因子摄动的范数，从而缩小了模型的实际允许摄动范围。

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Then by the introduction of the set of admissible weight functions the two minimum principles for the original place time domain are derived.

该方法采用完全基于能量平衡的精确模型来构成真实目标函数，并且运用最优控制理论中的最小值原理进行求解。

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