This paper proposes a simple and systematic design approach to global robust stabilization of nonlinear systems in the presence of dynamic and static uncertainties. An extended concept of state-dependent scaling is newly introduced for robustification of feedback control against dynamic uncertainties. This paper presents a recursive design procedure which provides a global stabilizing state-feedback controller whenever the system belongs to a new class of strict-feedback systems, allowing both dynamic and static uncertainties. The state-dependent scaling method reduces problems of robust L/sub 2/ disturbance attenuation and robust almost disturbance decoupling to a special case of the robust stabilization design.
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机译:本文提出了一种简单而系统的设计方法,用于在存在动态和静态不确定性的情况下对非线性系统进行全局鲁棒稳定。新引入了扩展的状态相关缩放概念,以增强针对动态不确定性的反馈控制。本文提出了一种递归设计程序,只要该系统属于一类新的严格反馈系统,就可以提供全局稳定状态反馈控制器,从而允许动态和静态不确定性。状态相关的缩放方法将鲁棒L / sub 2 /干扰衰减和鲁棒几乎扰动解耦的问题减少到鲁棒稳定设计的特殊情况。
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