研究一类具有非匹配不确定性的非线性时变系统的鲁棒状态反馈输出跟踪控制器设计问题。通过引入非线性时变系统的相对阶将系统输入输出线性化 ,然后设计出一种基于标称系统和不确定性上界的连续型鲁棒输出跟踪控制器。利用该方案设计的控制器可保证整个闭环系统是一致有界稳定的 ,且闭环输出可以渐近跟踪期望的轨迹 A robust state feedback output tracking controller design problem for a class of nonlinear time-varying systems with mismatched uncertainties is studied. By introducing the relative order of the nonlinear time-varying system, the input and output of the system are linearized, and then a continuous robust output tracking controller based on the nominal system and the upper bound of uncertainty is designed. The controller designed with this scheme can ensure the entire closed-loop system is uniformly bounded and stable, and the closed-loop output can asymptotically track the desired trajectory