转换图还包含 输入符号（在本例中为 XML 标记）和控制输入符号如何修改状态的 转换函数。
The transition diagram also includes input symbols (in this case XML tags) and a transition function that controls how input symbols modify the state.
最后，详细讨论了输入对系统能量函数稳定与输入对状态稳定的关系。
Finally, the relationship between the input -to - V (x) stability and the input -to-state stability is discussed in detail.
广义约束力被表达为机器人系统状态变量和广义输入力的显函数，力信息由此获得，因此无须使用力传感器即可同时控制机器人的力和位置。
The generalized constraint forces are then expressed as an explicit function of the state variables and generalized input forces, from which force information is therefore obtained.
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