讨论一类仿射非线性系统的鲁棒H∞ 控制问题 .针对自由系统 ,外部干扰输入矩阵和控制输入矩阵都具有加法不确定性的系统 ,将鲁棒性能的分析和综合归结为求解一组Hamilton_Jacobi不等式 ,给出了确保非线性控制系统满足鲁棒干扰抑制性能的充分条件 ,获得了非线性鲁棒控制器的一种形式 .一个仿真例子验证了所得结论的正确性 In this paper, the robust H∞ control problem for a class of affine nonlinear systems is discussed. Aiming at the system with additive uncertainties for both the free system, the external disturbance input matrix and the control input matrix, the analysis and synthesis of robust performance are summarized as solving a group Hamilton_Jacobi inequality, a sufficient condition is given to ensure that the nonlinear control system satisfies the robust interference rejection performance, and a form of nonlinear robust controller is obtained. A simulation example verifies the correctness of the conclusion