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本文研究了菱形对象族的鲁棒镇定问题，证明了控制器鲁棒镇定菱形对象族的充分必要条件是它同时镇定六十四条棱边对象．在此基础上，利用凸方向的概念讨论了控制器分子、分母的选择，并给出了菱形对象族的顶点镇定结果．
In this paper, the problem of robust stabilization of diamond-like object families is studied. It is proved that the controller must robustly stabilize the diamond-like object family when it simultaneously stabilizes 64 edge objects. On this basis, the concept of convex direction is used to discuss the choice of controller numerator and denominator, and the vertex stabilization result of rhombus object family is given.