研究了一类不确定非线性系统的鲁棒控制问题 ,在假设鲁棒相对阶为系统阶时 ,利用微分同胚变换为可控标准形 ,进一步假设系统的不确定项界函数为已知的情况下 ,提出了一个极点配置状态反馈鲁棒控制策略 ,该控制策略能够保证闭环系统以给定的速率按指数收敛于一个给定的余集 .最后 ,以小车倒摆系统为例 ,进行了鲁棒控制策略设计 ,并用 Matlab的 Simulink工具箱进行了仿真 ,结果表明 ,控制效果令人满意 The problem of robust control for a class of uncertain nonlinear systems is studied. When the relative order of robustness is assumed to be system order, the system is transformed into a controllable standard form using the diffeomorphism. It is further assumed that the uncertain boundary function of the system is known , A robust control strategy of pole placement state feedback is proposed, which can ensure that the closed-loop system exponentially converges to a given residual set at a given rate.Finally, taking the car overturning system as an example, Robust control strategy design and simulation with Matlab Simulink toolbox, the results show that the control effect is satisfactory