系统中含有的未建模动态是更广泛的输入到状态实践稳定，非线性不确定性满足三角界条件。
The more extensive unmodeled dynamics introduced is input-to-state practical stable (ISpS), and unknown nonlinearities satisfy triangular bound conditions.
对被控对象模型中的不确定性进行了，针对设计中主要考虑的输入延时和高频未建模动态，建立了非结构化乘性不确定性模型。
The uncertainty of the controlled object modeling was analyzed. As for the time delay and high frequency no modeling considered in design, the uncertainty modeling of non structure was found.
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