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采用双回路控制方法讨论具有混合不确定性系统的鲁棒镇定及性能设计问题，其内环控制器可改善对象特性，从而使整个双回路闭环系统具有鲁棒稳定性．
The double loop control method is used to discuss the robust stabilization and performance design of hybrid uncertain systems. The inner loop controller can improve the object characteristics and make the closed loop system of double loops robust.