By using Lyapunov stability theorem, both the stability of closed-loop system and the asymptotical convergence of tracking errors are ensured.
李亚普诺夫稳定性定理保证了闭环系统的稳定性及跟踪误差的渐近收敛。
It is showed by the Lyapunov stability theorem that the tracking errors converge exponentially. The simulation results illustrate the efficiency of this method.
通过李亚普诺夫稳定理论证明跟踪误差是指数收敛的，仿真结果验证了这种方法的有效性。
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