根据总体稳定性判据，闭环系统稳定，当且仅当所有的特征方程的根有负面真正的部分。
According to the General Stability Criterion, a closed loop system will be stable if and only if all the roots of the characterized equation have negative real parts.
该方法不但能保证闭环系统稳定，而且可使跟踪误差收敛于原点或原点的一个小邻域内。
It is proved that the proposed method can not only guarantee the stability of the closed-loop system, but also make the tracking error converge to the origin or its small neighborhood.
通过此方法设计的速度跟踪控制，在保证整个闭环系统稳定的情况下，提高速度跟踪的快速性。
By this linearization model, the speed tracking control law is designed to increase the celerity of speed tracking while keeping the whole closed loop system stable.
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