针对实际的控制系统中执行器受限的问题，研究了机器人存在不确定结构参数及外界干扰时的输出调节问题。
To the problem of the actuator constraints in practical control systems, the output regulation is studied for robot manipulators with uncertain structure parameters and external disturbance.
对两类具有给定结构的控制器，给出了不确定离散系统鲁棒能镇定的充分条件。
For two classes of controllers with given structure, the sufficient conditions for robust stabilizability of uncertain discrete time-delay systems are dervied.
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