Adaptive robust control for a class of uncertain nonlinear system
一类非线性不确定系统的自适应鲁棒控制

A kind of nonlinear system with unknown structure and parameters in the presence of external disturbances is considered. We treat this type of nonlinear system as a time-varying system with a linear structure, and propose for it an adaptive robust control law which consists of the adaptive model compensation, the stabilization feedback and the robust feedback. It ensures that all signals in the closed-loop system to be bounded and the tracking errors being within a desired range. Theoretical analysis and simulation results validate the proposed controllers.