We lay particular emphasis on analysis of global and local convergence and rate of convergence.

侧重于收敛的速率和整体、局部分析。

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Through theoretical analysis, the proper choice of the controlling parameter not only has no influence on the rate of convergence, but also accelerates the convergence sometimes.

通过理论分析，适当选取控制参数不仅不影响收敛速度，有时还会加快收敛。

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And it is demonstrated via analysis and simulation that this method is robust to system error and has the advantage of rapid convergence rate.

此外该算法具有收敛速度快、鲁棒性强、估计精度高等优点。通过拖曳阵和体积阵的仿真实验，验证了所提出方法的有效性和正确性。

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