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 system is powerful in function, stable in structure and practical in use. Besides, it is flexible and scalable. So it can be used as a reference to the construction of systems alike.
系统功能强大，结构稳定，符合实际需要，具有一定的灵活性和扩展性，对于类似系统的建设有一定的借鉴作用。
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