然后利用积分反推方法，构造性地设计出了输出反馈稳定控制器、自适应镇定控制器和渐近跟踪控制器。

Then, the output-feedback stable controller, the adaptive output-feedback stable controller and asymptotical tracking controller are constructively designed using integral backstepping approach.

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然后利用积分反推方法，构造性地设计出了输出反馈稳定控制器、自适应镇定控制器和渐近跟踪控制器。

Then, the output-feedback stable controller, the adaptive output-feedback stable controller and asymptotical tracking controller are constructively designed using integral backstepping approach.

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