For all admissible uncertainties and possible controller gain variations, the desgined controller can guaranteed that the closed-loop System is asymptotically stable and the upper bound of cost function value is not more than a constant.

• 所设计的控制器对于所允许的不确定性和控制器增益的可能变化，能保证闭环系是统渐近稳定的且性能指标上界不超过某个常数。