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对能用状态反馈镇定且完全能观的仿射非线性系统，给出了保证闭环系统渐近稳定的动态补偿器的设计方法．
For affine nonlinear systems that can be state-feedback-stabilized and completely observable, a design method of dynamic compensator to ensure the asymptotic stability of the closed-loop system is given.