1　引言非线性不确定系统的鲁棒性研究 ,早期是以在匹配条件 (matching condition)和广义匹配条件下 ,设计控制器使闭环系统达到实际稳定 (practical stabitity)为主 [1～ 3 ] .近些年利用 H∞ 控制理论的结果 ,出现了对具有有界结构的非线性不确定系统的鲁棒性讨论 [4～ 9] . 1 INTRODUCTION The robustness of nonlinear uncertain systems is studied in the early days. In the early stage, the controller was designed to achieve practical stabitity of the closed-loop system under the condition of matching condition and generalized matching [1-3]. In recent years, by using the results of H∞ control theory, the robustness of nonlinear uncertain systems with bounded structures has been discussed [4-9].