The system is a semi-closed loop system that knock sensor was used.
由于采用外部的爆震传感器，整个系统成为一个半闭环系统；
The algorithmic relaxes the strict limit on sample frequency, and can guarantee SGUUB(semi-global uniform ultimate boundedness) of the closed-loop system.
该算法对采样频率无严格限制，最终可确保系统闭环半全局一致有界收敛。
By theoretical analysis, the closed-loop control system is proved to be semi-global uniformly ultimately bounded (UUB), and the output tracking error converges to a neighborhood of zero.
通过理论分析，证明了闭环控制系统半全局一致终结有界，跟踪误差收敛到零的一个邻域内。
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