针对仿射非线性系统的输出跟踪问题提出了一个新的控制器设计方法.通过构造跟踪误差的高阶常微分方程,使得该常微分方程对应的特征方程的根具有负实部,从而实现跟踪误差渐近收敛于0,使得系统具有期望的动态性能.通过该微分方程可以解决仿射非线性系统的跟踪控制问题.根据李亚普诺夫稳定性理论,证明了该算法在外界干扰满足一定条件时的鲁棒性.仿真结果验证了该算法的正确性和鲁棒性. A new controller design method is proposed for the output tracking problem of affine nonlinear systems. By constructing higher-order ordinary differential equations with tracking errors, the root of the eigenvalue equation of the ordinary differential equation has a negative real part, The error asymptotically converges to 0, which makes the system have the expected dynamic performance.The problem of tracking control of affine nonlinear systems can be solved by this differential equation.According to Lyapunov stability theory, it is proved that the algorithm satisfies the condition of external disturbance The simulation results verify the correctness and robustness of the algorithm.