最后，利用李雅普诺夫函数概念和方法得到了闭环控制系统具有大域渐近稳定性的充分条件。
Finally, by using the concept and method of the Lyapunov function, a sufficient condition for the approximate stability in the large field of the closed-loop control system is derived.
并在构建李雅普·诺夫函数及理论分析的基础上提出了基于能量的控制器方法。
After Lyapunov function is DE - rived, with theoretical analysis, energy-based control design method is discussed in order to solve the global stability problem.
同时，给出了切换状态反馈控制器和闭环切换系统的公共李雅普诺夫函数的设计算法。
Meanwhile, the design algorithm for the switching state feedback controllers and the common Lyapunov function of the closed-loop switched system is given.
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