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非线性系统的输出跟踪是控制理论及控制工程中的一个重要研究课题。该文针对一类不确定性满足匹配条件的仿射非线性系统，提出了一种基于标称系统和不确定性上界的连续型鲁棒状态反馈输出跟踪控制器设计方案。利用该方案设计的控制器可保证整个闭环系统中的所有状态都是一致有界的，且输出渐近跟踪期望轨迹。最后给出了一个数值算例，仿真结果表明了设计方法的有效性。
Output tracking of nonlinear systems is an important research topic in control theory and control engineering. Aiming at a class of affine nonlinear systems that meet the matching conditions with uncertainties, a robust continuous-state feedback output tracking controller design scheme based on nominal system and uncertainty upper bound is proposed. The controller designed by this scheme can ensure that all states in the entire closed-loop system are uniformly bounded, and the output asymptotically tracks the desired trajectory. Finally, a numerical example is given, and the simulation results show the effectiveness of the design method.