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建立了多组多滞后区间系数时变非线性控制系统的结构概念，采用刘永清建立的鲁棒镇定的等价法，给出了具有扰动结构参数的多组多滞后区间系数时变非线性关联控制系统的结构与关联鲁棒镇定，同时给出了扰动参数与滞后非线性项界限的估计公式
The concept of multi-group multi-delay nonlinear systems with time-varying coefficients is established. By using the equivalent method of robust stabilization established by Liu Yong-qing, the multi-group multi-group time-varying nonlinear time-varying control with disturbance structural parameters is given The structure and the correlation of the system are robustly stabilized. At the same time, the estimation formulas of the perturbation parameter and the hysteresis nonlinear term are given