一类多变量不确定非线性系统的输出跟踪方法

An Output Tracking Method of a Class of Multi-input Multi-Output Nonlinear Systems with Uncertain Disturbances

应用非线性系统的部分线性化方法，将一类满足一定条件受不确定干扰的多变量非线性系统的输出跟踪问题转变为一个部分线性化子系统的状态镇定控制问题，且同时实现了对不确定干扰的解耦．

This paper transforms the output tracking problem of a class of multi-input mul- ti-output nonlinear systems with uncertain disturbances, which satisfy certain conditions, into the stabilization problem of a partial linearized subsystem, via the application of partial linearization method of nonlinear systems. In the meantime, the uncertain disturbances are decoupled and the Whole problem is solved.