The original system with both input and state time delays was first rewritten into a form without any time delays by a nonsingular linear transformation. 為了簡(jiǎn)化變結構控制器的設計，首先通過(guò)非奇異線(xiàn)性變換將含狀態(tài)時(shí)滯和輸入時(shí)滯的線(xiàn)性系統化為無(wú)時(shí)滯系統。
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