使用线性矩阵不等式(LMI)方法进行了稳定性分析，保证了此控制系统的大范围稳定性。

Last the stability analysis is given by means of linear matrix inequality (LMI) approach, and the control system is guaranteed to be stable within the large range.

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我们的船能够运输很大范围的货物，因为吃水浅并自带有吊车设备能够适合进入很多的港口，而且历史证明我们具有稳定的租船费率。

Our vessels can transport a wider array of cargo, access a larger number of ports due to their shallow draft and onboard crane equipment, and have historically achieved greater charter rate stability.

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同时，在求解连杆曲线非线性方程组中引入同伦算法，使算法具有大范围收敛性，从而保证了优化过程的稳定收敛。

At the same time, homotopy algorithm is applied in the solution of non-linear equation of plane link curve, it enlarges the convergence range of optimization process steadily.

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