By theoretical(analysis, ) the closed-loop control system is proven to be semiglobally uniformly ultimately bounded, (with) tracking error converging to a residual set.

通过理论分析，证明了闭环系统是半全局一致终结有界的，跟踪误差收敛到一个小的残差集内。

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By theoretical analysis, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded with tracking error converging to zero.

理论分析证明了闭环系统是半全局一致终结有界，且跟踪误差收敛到零。

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