其中是正實數。當遠離零時，系統的特性變為指數穩定性。當接近於零時，引入

其中是正實數。當遠離零時，系統的特性變為指數穩定性。當接近於零時，引入FTA，使系統行為的收斂速度加快，從而產生有限時間收斂。但在實際應用中，FTA仍然存在奇异性問題。但當1=0時，當2=0時，控制輸入會出現奇异性問題。

結果 (英文) 1:

Which is a positive real number. When away from zero, the system becomes a characteristic exponential stability. When close to zero, the FTA is introduced, so that the convergence speed of the system behavior accelerated, resulting in a limited time convergence. However, in practical applications, FTA there are still problems with singularities. However, when 1 = 0, when 2 = 0 The control inputs singularity problems.

結果 (英文) 2:

Which is a positive real number. When away from zero, the characteristics of the system become exponential. When near zero, FTA is introduced, which accelerates the convergence of system behavior, resulting in limited time convergence. However, in practical application, FTA still has singularproblemies. However, when 1 to 0, when 2 to 0, the control input will have singularity problem.

結果 (英文) 3:

Where is a positive real number. When it is far away from zero, the characteristics of the system become exponential stability. When it is close to zero, FTA is introduced to accelerate the convergence rate of the system behavior, thus resulting in finite time convergence. However, in practical application, there are still singularity problems in FTA. But when 1 = 0, when 2 = 0, the control input will appear singularity problem.