Finally,simulation results show that the method not only have well control effectiveness,but also can deal with the problem of constraint on the control input,and guarantee the robust stability for parameter changed.

• 仿真结果表明,该方法不仅具有比较好的控制效果,而且能有效地解决控制输入约束问题,并能很好地保证对参数变化的鲁棒稳定性。