Robust Output Tracking of Nonlinear Systems With Parametric Uncertainties
具有参数不确定性的非线性系统的鲁棒输出跟踪

In this paper, the output tracking of the nonlinear system with nonlinear parameterization is considered. Using the time varying state feedback control law exponentially stabilizes the output tracking error, and guarantees that all states in the nonlinear system are bounded. To implement the time varying state feedback control law, design the high gain robust observer which observes the states needed by the control law. The output of the obtained closed loop system can asymptotically track the desired output, and all signals inside the closed loop system are bounded.