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研究了由非线性相似子系统经时变非线性互联而成的非线性组合大系统．首先，设计出该组合大系统的状态观测器，然后，给出一种基于此观测器所得的估计状态使整个大系统镇定的控制器设计方案，其结果表明相似结构能简化组合大系统的分析与设计．最后，将所得结论应用于轴盘传动系统，仿真结果表明所得方法的有效性．
The nonlinear composite system based on time-varying nonlinear interconnections of nonlinear similar subsystems is studied. First, we design a state observer for the large-scale combined system. Then, we give a controller design scheme that stabilizes the entire system based on the estimated state of the observer. The results show that the similar structure can simplify the analysis of the large-scale combined system With design. Finally, the conclusion is applied to the shaft drive system. The simulation results show the effectiveness of the method.