Owing to the character of structure of lower-triangular system, the high-rank state of each differential equation is used as virtual control, then the control law is constructed by recursive design.
根据下三角系统的结构特点，将系统每个微分方程中的高阶状态用作虚拟控制进行设计，通过循环设计最终得到系统控制所需要的控制策略。
The name of it comes from the lower-triangular form of system matrix in state-space equations when it is linear.
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；
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