并在系统的扩张状态观测器和非线性状态误差控制器中引入非线性幂指数函数，使系统运算变得更加简单。
A nonlinear exponential function is applied to ESO and nonlinear state error feedback (NLSEF) controller, and it makes the system realize easier operation.
选取满足条件的不同非线性函数可以得到不同形式的非线性扩张状态观测器。
A different nonlinear function that satisfies some conditions can be lead to a nonlinear ESO with different forms.
结合评价函数法将带约束的多目标优化问题转化为无约束优化问题，并给出相应的区间扩张，对相关定理进行了证明。
The paper, combined with evaluation function introduces the transformation of constrained problems into unconstrained ones, and offers an interval extension.
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