By introducing integral variable structure and high gain observer, the closed-loop control systems is shown to be globally stable in terms of Lyapunov theory, with tracking error converging to zero.
通过引入积分型变结构切换函数及高增益误差观测器，基于李雅普·诺夫稳定性理论，证明了闭环系统是全局稳定的，输出跟踪误差都收敛到零。
The main content in this paper include generalization performance research of CMAC NN and the application in Integral Variable Structure Control (IVSC) for uncertain nonlinear systems.
本文主要内容包括对CMAC 神经网络泛化性能的研究及其在对不确定非线性系统进行积分变结构控制（IVSC）中的应用。
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