本文提出了一个简单的关于控制增益的条件，保证了闭环系统的全局渐近稳定性。
We give a simple sufficient condition on control gain that guarantees globally asymptotical stability of closed loop system.
该降维观测器能保证估计状态以指数规律渐近趋近系统的真实状态，并且通过观测器增益参数的适当选取，可使状态估计误差以指定的收敛速度趋于零。
By selecting the gain of the observer, the observer can guarantee the estimated states converge exponentially to the true states of the system with arbitrary rate of convergence.
高增益参数选择适当使零的解决方案，闭环系统全局渐近稳定的概率，并调节输出的起源几乎可以肯定。
The high-gain parameter is appropriately chosen to make the zero solution of the closed-loop system globally asymptotically stable in probability, and regulate the output to the origin almost surely.
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