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本文针对不确定性仿射非线性系统，通过状态微分同胚变换和反馈控制建立了系统的带有不确定性的线性化模型，分别研究了调节问题和跟踪问题的鲁棒外环设计方法。所提出的算法不但能保证系统的鲁棒性，而且使闭环系统有良好的动态性能，闭环系统的全局收敛性和终结有界性得到了证明。
Aiming at the uncertain affine nonlinear system, a system linear model with uncertainty is established by means of state diffeomorphism transformation and feedback control. The robust outer loop design method for the adjustment problem and the tracking problem are studied respectively. The proposed algorithm can not only ensure the robustness of the system, but also make the closed-loop system have good dynamic performance. The global convergence and the final bound of the closed-loop system are proved.