The controller did not require a priori knowledge on the hounds of the disturbances and can get the estimates of the upper hounds of the disturbances via an on line switching logic.

• 该控制器不需要事先确定未知干扰的上界值，它能通过事先定义的逻辑切换方式在线调节未知干扰上界值参数的估计值。