中文摘要：

Cai Xiushan was born in 1966. She received her Ph.D. degree from Department of Automation of Shanghai Jiaotong University in 2005. Now she is a professor of Zhejiang Normal University. Her current research interests lie in nonlinear control and its applications. E-mail：xiushan@zjnu.cn Wang Xiao was born in 1978. She is a lecturer of Zhejiang Normal University. Her research interests include robotics, computer vision, nonlinear control and its applications. Xu Xiuling was born in 1976 of Zhejiang Normal University. Her interests lie in nonlinear control and She is a lecturer current research its applications.