被假定为时间不变，范数有界，且存在于系统和控制输入矩阵的不确定性。

The uncertainties are assumed to be time-invariant, norm-bounded, and exist in both the system and control input matrices.

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该文在系统矩阵和噪声输入矩阵均存在参数摄动的情形下，研究其协方差的定界估计问题。

This paper studies the estimation problem of definite bound for covariance when there are parameter perturbations in the system matrix and the noise input matrix.

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该算法在可控性矩阵中将输入矩阵用其列向量的极大线性无关组代替，并使用矩阵的行初等变换；

By using the elementary row transformation in the controllable matrix, the input matrix is replaced by the maximally linear independent set of its column vectors.

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