
()
()
()
()
2
2
intrinsic robustness
2
0
extrinsic robustness
1()
(,) (,) (,) (,)
2
1() () ()
+(,)
4ρ
∂
+⊗ +⊗
∂
∂∂∂
⎛⎞⎛⎞⎛⎞
+≤−+
⎜⎟⎜⎟⎜⎟
∂∂∂
⎝⎠⎝⎠⎝⎠
WmW WmW
TT
TT
Ve
Fxs C I Gxs Fxs C I Gxs
e
Ve Ve Ve
eRe HH Fxs C
eee
()
()
synchronization robustness
(,)⊗
m
IGxs
T
(8.19)
The fi rst term on the left hand side of (8.19) indicates the intrinsic robustness
to tolerate the intrinsic parameter fl uctuation in (8.13) because this term is
induced by intrinsic noise (or random parameter fl uctuation), the second
and third term on the left hand side are due to the noise fi ltering in (8.14) and
indicate the extrinsic robustness to fi