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本文对一大类带有界扰动的多输入非线性串级系统，基于ｂａｃｋｓｔｅｐｐｉｎｇ 递推设计方法，进行了状态反馈控制设计．当状态反馈控制律作用于该系统时，系统的状态和控制是全局有界的，并且第１ 个子系统的状态能够收敛到原点的一个小邻域内．
This paper presents a state feedback control design based on backstepping recursive design for a large class of multi-input nonlinear cascade systems with bounded disturbances. When the state feedback control law acts on the system, the state and control of the system are globally bounded, and the state of the first subsystem can converge to a small neighborhood of the origin.