具有一般不确定性的非线性系统的鲁棒输出反馈控制

为将文献「１」中结果推广到具有一般不确定性的系统并降低在过渡阶段所需要的控制量，通过引入新的正则信号和一些正光滑设计函数来处理状态估计误差和不确定性，设计了鲁棒输出反馈控制器，它能保证闭环系统信号的全局有界性，并使输出跟踪误差任意小，仿真说明，应用本文控制器，获得的性能更好，所需控制量要小。

Robust Output-Feedback Control of a Class of Nonlinear Systems with General Uncertainties

To extend the results in [1] to systems with general uncertainties and to reduce the control effort in the transient period, a robust output feedback controller is designed by introducting a new normalization signal and some positive smooth design functions to deal with the state estimation error and the uncertainties. It can guarantee the global boundness of closed loop signals and make the output tracking error arbitrarily small. The simulations show that better performance can be achieved with less control effort when the controller is applied.