Based on the Lyapunov synthesis approach, a global uniform ultimate boundedness property (UUB) of the state estimation errors and tracking errors in the closed-loop system can be achieved.

• 我们将使用李普若夫理论来证明，只要在适当的条件下，就能确保在闭迴路系统中状态观测误差，以及讯号追踪误差的终极均匀有界性(UUB)。