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对于可状态反馈线性化的一类仿射非线性系统，本文提出一种非线性鲁棒控制的μ方法。首先给出非线性鲁棒控制问题，然后利用状态反馈线性化方法，把非线性系统线性化．并利用μ综合方法，对线性化系统进行鲁棒控制器的设计，最后通过回代构成非线性鲁棒控制系统。
For a class of affine nonlinear systems with state feedback linearization, this paper presents a μ method for nonlinear robust control. First of all, the problem of nonlinear robust control is given, then the nonlinear system is linearized by the state feedback linearization method. The μ-synthesis method is used to design a robust controller for the linearized system. Finally, the nonlinear robust control system is constructed by back-substitution.