针对具有参数不确定性和外部未知扰动的不确定系统，基于灵敏度函数，提出了一种二自由度控制结构。

For uncertain systems with parameter uncertainty and unknown disturbance, a two-degree-of-freedom control structure was proposed based on sensitivity function.

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该模型运用领域知识、语义集成方法和证据组合方法处理模式集成各个阶段的不确定性，并给出了各阶段不确定度的表示和计算方法。

Domain knowledge, semantic integration method and proof combination method are applied in the model. Expression and computing methods of uncertain degree are proposed for every phase.

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