【摘要】 本文研究了具有不确定性非线性系统的鲁棒输出跟踪控制问题，考虑了对参数、建模不确定性及干扰的鲁棒性，这里的不确定性不需满足通常的匹配条件，通过构造一个Ｌｙａｐｕｎｏｖ函数，我们得到一个变结构控制器，并且证明了输出跟踪误差的收敛性。最后，给出了计算机仿真。结果表明本文提出的方法是有效的。更多还原

【Abstract】 In this pape,the robust output tracking control problem for nonlinear systems is discussed. The robustness against parameter uncertainties and unknown disturbances is considered.Here, the uncer-tainties do not satisfy the conventionai matching condition,We get a variable structure controller by con-structing a Lyapunov function. It is shown that the overall states are bounded and the tracking errors con-verge to a residual set.A computer simulation is given,the results have verified the expected satisfactoryperformance.更多还原