作者针对一类具有非线性参数不确定性的非线性递阶系统 ,研究了带有稳定性的几乎干扰解耦问题的鲁棒情形。该文的综合方法提供了可行的设计控制器的步骤。所设计的控制器 ,能保证闭环系统在容许的不确定性条件下 ,从干扰到输出的影响可能任意地小 ,并能保证系统是内稳定的 Aiming at a class of nonlinear hierarchical systems with nonlinear parameter uncertainties, the authors study the robust case of a nearly interference decoupling problem with stability. The synthesis method of this article provides feasible steps for designing the controller. The design of the controller ensures that the influence of the closed-loop system from disturbance to output can be arbitrarily small under permissible uncertainties and that the system is internally stable