But the learning period of opened-loop iterative learning control is long, and the unstable and high gain phenomena may be taken place during the initial stage of iterative learning control.
开环迭代学习控制学习周期长，在迭代学习的初期容易出现不稳定和高增益的现象。
The high frequency gain of the regulator is limited to suppress the high frequency oscillation of the control signal while assigning the closed-loop poles.
在配置闭环极点的同时，对调节器的高频增益加以限制，以减弱控制信号的高频振荡。
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.
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。
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