The robustness requirement demands the control system must account for both parametric uncertainty and unmodeled dynamics associated with, for instance, the rope dynamics.
鲁棒性的需求要求控制系统必须解决参数不确定性问题和与扰动（例如,钢丝绳的动态特性）有关的问题。
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Parametric uncertainty is assumed to be norm bounded.
假设参数不确定性是范数有界的。
Firstly, an ideal saturated coordination controller is presented in the absence of external disturbances and parametric uncertainty.
首先，在无外部扰动和参数不确定性的情况下，提出一种理想的饱和协同控制器。
There inevitably exist the parametric uncertainty and unstructured uncertainty due to the complex dynamics of flexible-link manipulators.
由于柔性机械手具有复杂的动力学模型，因此不可避免存在参数不确定性和未建模动态。
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