应用能量积分法建造了一个李亚普诺夫函数。
Lyapunov function is established by using energy integral method.
并利用离散李亚普诺夫函数法导出系统稳定的条件。
The stability conditions are derived using a discrete Lya-punov function.
该控制器对系统各通道进行分散式控制，利用李亚普诺夫函数的确定过程求解各自适应参数表达式，以保证了系统的稳定性。
The decentralized adaptive controller is designed and the adaptive parameters are decided by the Lyapunov function in order to assure the system is stable.
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