For the external disturbances and the approximation errors, a linear matrix inequality (LMI) problem is then solved to guarantee the robustness of the closed-loop.

• 对于系统不确定外界干扰和模糊系统的逼近误差，通过求解一个线性矩阵不等式来保证闭环系统的鲁棒稳定性。