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In this paper, we show how the Robertson uncertainty relation gives certain intrinsic quantum limits of measurements in the most general and rigorous mathematical treatment. A general lower bound for the product of the root-mean-square measurement errors arising in joint measurements of noncommuting observables is established. We give a rigorous condition for holding of the standard quantum limit (SQL) for repeated measurements, and prove that if a measuring instrument has no larger root-mean-square preparational error than the root-mean-square measurement errors then it obeys the SQL. As shown previously, we can even construct many linear models of position measurement which circumvent this condition for the SQL.

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