这一名称来源于下三角结构线性系统写成状态空间表达式后，系统矩阵中所表现出的下三角形状；
The name of it comes from the lower-triangular form of system matrix in state-space equations when it is linear.
这类系统的状态空间矩阵是一些时变参数的仿射函数，而这些时变参数是可以实时测量的。
The state space matrices of the systems are assumed to be affine functions of some time varying parameters, which can be measured in real time during the system operation.
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