摘要
The robust stabilizating control problem for a class of uncertain nonlinear large-scale systems is discussed. Based on the theory of both input/output (I/O) linearization and decentralized variable structure control (VSC),two-level and decentralized variable structure control laws for this kind of systems are presented respectively,which achieve asymptotically stabilization despite the uncertainties and disturbances. At last,sirnulation of the disturbed two-pendulum system is given to illustrate the feasibility of proposed technique.
讨论一类不确定非线性大系统的鲁棒镇定问题．基于输入－输出线性化和变结构控制理论，分别设计了分层和分散变结构控制律来实现渐近的鲁棒稳定，并用一个受扰双摆系统的仿真实验说明所提控制方案的有效性．
