最后在零动态稳定的假设下，实现了整个系统的半全局渐近稳定。

Under the assumption of stable zero dynamics, the whole system is semi-global asymptotically stable (Semi-GAS).

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在适当的假设下，得到了系统的半全局渐近稳定。

Under some additional assumptions, the whole system is semi-global asymptotically stable (Semi-GAS).

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