Extended filtering high‐gain output feedback controller for a class of uncertain nonlinear systems subject to external disturbances

摘要

Abstract > In this article, an extended filtering high‐gain output feedback controller is developed for a class of uncertain nonlinear systems subject to external disturbances. The nonlinearities under consideration satisfy a semiglobal Lipschitz condition. The proposed control architecture integrates the extended state observer (ESO), high gain, and low‐pass filter together. None of them is used alone. The ESO can not only estimate the unknown internal state, but also deliver a good property of disturbance rejection simultaneously due to the presence of high gain. Since the high gain deteriorates the robustness of the system, a low‐pass filtering mechanism is added in the control law to filter away aggressive signals and recover the robustness. The filtering control law is designed to compensate the nonlinear uncertainties and deliver a good tracking performance with guaranteed stability. The matched uncertainties are canceled directly by adopting their opposite in the control signal, whereas a dynamic inversion of the system is required to eliminate the effect of the mismatched uncertainties on the output. Since the virtual reference system defines the best performance that can be achieved by the closed‐loop system, the uniform performance bounds are derived for the states and control signals via comparison. Numerical examples are provided to illustrate the effectiveness of the novel design via comparisons with the model reference adaptive control method and type="mathematics"> <fi>L</fi> <sub>1</sub> adaptive controller. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract Type =“Main”XML：Lang =“en”> <标题类型=“main”>抽象</ title> > 在本文中，为一类受外部干扰而进行的一类不确定的非线性系统开发了扩展过滤高增益输出反馈控制器。所考虑的非线性满足半球形嘴唇尖端条件。所提出的控制架构将扩展状态观察者（ESO），高增益和低通滤波器集成在一起。它们都不是单独使用。 ESO不仅可以估计未知的内部状态，而且由于存在高增益，同时也可以同时提供良好的扰动抑制性。由于高增益劣化了系统的鲁棒性，因此在控制定律中添加了低通滤波机构以滤除侵蚀信号并恢复鲁棒性。过滤控制规律旨在补偿非线性的不确定性，并提供良好的跟踪性能，具有保证的稳定性。通过采用控制信号相反，可以直接取消匹配的不确定性，而该系统的动态反转是必需的，以消除不匹配的不确定性对输出的影响。由于虚拟参考系统定义了可以通过闭环系统实现的最佳性能，因此通过比较导出统一性能界限和控制信号。提供数值示例以通过与模型参考自适应控制方法的比较来说明新颖设计的有效性 type =“mathematics”> <fi> l </ fi> <sub> 1 </ sub> </ span> 自适应控制器。 </ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" > 著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control 》</a> <b style="margin: 0 2px;">|</b><span>2020年第11期</span><b style="margin: 0 2px;">|</b> <span>共21页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li> <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span> <a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统 ;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=extended state observer (ESO)&option=203" rel="nofollow">extended state observer (ESO);</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=external disturbances&option=203" rel="nofollow">external disturbances;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=high gain&option=203" rel="nofollow">high gain;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=low‐pass filter&option=203" rel="nofollow">low‐pass filter;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=uncertainty&option=203" rel="nofollow">uncertainty;</a> </p> <div class="translation"> 机译：扩展状态观察者（ESO）;外部干扰;高增益;低通滤波器;不确定性; </div> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> <li class="active" >外文文献</li> <li >中文文献</li> <li >专利</li> </ul> </div> <div class="similarity_details"> <ul > <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/journal-foreign-detail/0704023066766.html">Extended filtering high‐gain output feedback controller for a class of uncertain nonlinear systems subject to external disturbances</a> <b>[J]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> </a> <a href="/journal-foreign-21736/" target="_blank" rel="nofollow" class="tuijian_authcolor">International Journal of Robust and Nonlinear Control .</a> <span>2020</span> <span>,第11期</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：扩展过滤高增益输出反馈控制器，用于一类经受外部干扰的不确定非线性系统</span> </p> </li> <li> <div> <b>2. </b><a class="enjiyixqcontent" href="/academic-journal-foreign_journal-control-science-engineering_thesis/020416781874.html">£_2 Gain Performance for a Class of Lipschitz Uncertain Nonlinear Systems via Variable Gain Robust Output Feedback Controllers</a> <b>[J]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Hidetoshi Oya&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Hidetoshi Oya,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Kojiro Hagino&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Kojiro Hagino </a> <a href="/journal-foreign-4062/" target="_blank" rel="nofollow" class="tuijian_authcolor">Journal of control science and engineering .</a> <span>2013</span> <span>,第期</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：一类Lipschitz不确定非线性系统的可变性能鲁棒输出反馈控制器的£_2增益性能</span> </p> </li> <li> <div> <b>3. </b><a class="enjiyixqcontent" href="/academic-journal-foreign_automatic-control-ieee-transactions_thesis/020412075561.html">Active Disturbance Rejection Control Approach to Output-Feedback Stabilization of a Class of Uncertain Nonlinear Systems Subject to Stochastic Disturbance</a> <b>[J]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Bao-Zhu Guo&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Bao-Zhu Guo,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Ze-Hao Wu&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Ze-Hao Wu,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Hua-Cheng Zhou&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Hua-Cheng Zhou </a> <a href="/journal-foreign-125/" target="_blank" rel="nofollow" class="tuijian_authcolor">IEEE Transactions on Automatic Control .</a> <span>2016</span> <span>,第6期</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：一类具有随机扰动的不确定非线性系统的输出反馈稳定化的主动扰动抑制方法</span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/academic-conference-foreign_meeting-195982_thesis/0705016174902.html">L2 gain performance for a class of uncertain nonlinear systems via adaptive robust output feedback controllers</a> <b>[C]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Oya Hidetoshi&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Oya Hidetoshi,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Hagino Kojiro&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Hagino Kojiro </a> <a href="/conference-foreign-195982/" target="_blank" rel="nofollow" class="tuijian_authcolor">UKACC International Conference on Control .</a> <span>2013</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：L2通过自适应鲁棒输出反馈控制器获得一类不确定非线性系统的性能</span> </p> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/academic-degree-foreign_mphd_thesis/02061273523.html">Output feedback and adaptive control of uncertain MIMO nonlinear systems with non-symmetric input gain matrix.</a> <b>[D] </b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Zhang, Ximing.&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Zhang, Ximing. </a> <span>2004</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：具有非对称输入增益矩阵的不确定MIMO非线性系统的输出反馈和自适应控制。</span> </p> </li> <li> <div> <b>6. </b><a class="enjiyixqcontent" href="/academic-journal-foreign-pmc_detail_thesis/040004356303.html">On the Design of Hyperstable Feedback Controllers for a Class of Parameterized Nonlinearities. Two Application Examples for Controlling Epidemic Models</a> <b>[O] </b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Manuel De la Sen&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Manuel De la Sen </a> <span>2019</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：一类参数化非线性的超稳定反馈控制器的设计。控制流行病模型的两个应用示例</span> </p> </li> <li> <div> <b>7. </b><a class="enjiyixqcontent" href="/open-access_resources_thesis/01000126894181.html">ℒ2Gain Performance for a Class of Lipschitz Uncertain Nonlinear Systems via Variable Gain Robust Output Feedback Controllers</a> <b>[O] </b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Hidetoshi Oya&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Hidetoshi Oya,</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Kojiro Hagino&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">Kojiro Hagino </a> <span>2013</span> </span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：ℒ2Gain通过可变增益强大输出反馈控制器的一类Lipschitz不确定非线性系统的性能</span> </p> </li> </ul> <ul style="display: none;"> <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/academic-journal-cn_control-theory-applications_thesis/0201242291851.html">一类不确定非线性系统的输出反馈鲁棒自适应控制器的设计与分析</a> <b>[J]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=杨昌利&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 杨昌利</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=阮荣耀&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,阮荣耀</a> <span> <a href="/journal-cn-8917/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 控制理论与应用 </a> </span> <span> . 2002</span><span> ,第006期</span> </span> </div> </li> <li> <div> <b>2. </b><a class="enjiyixqcontent" href="/academic-journal-cn_journal-northwestern-polytechnical-university_thesis/0201211181907.html">不确定多时滞非线性系统的H∞输出反馈控制器设计</a> <b>[J]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=贾秋玲&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 贾秋玲</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=吴成富&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,吴成富</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=王新民&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,王新民</a> <span> <a href="/journal-cn-7635/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 西北工业大学学报 </a> </span> <span> . 2003</span><span> ,第006期</span> </span> </div> </li> <li> <div> <b>3. </b><a class="enjiyixqcontent" href="/academic-journal-cn_journal-guizhou-university-natural-sciences_thesis/0201249345824.html">一类不确定非线性系统的全局输出反馈镇定</a> <b>[J]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=石啊莲&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 石啊莲</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=任舒翼&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,任舒翼</a> <span> <a href="/journal-cn-4606/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 贵州大学学报（自然科学版） </a> </span> <span> . 2015</span><span> ,第005期</span> </span> </div> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/academic-journal-cn_control-theory-applications_thesis/0201242272913.html">一类不确定非线性系统自适应输出反馈跟踪控制的新结果</a> <b>[J]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=尚芳&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 尚芳</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=刘允刚&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,刘允刚</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=张承慧&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,张承慧</a> <span> <a href="/journal-cn-8917/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 控制理论与应用 </a> </span> <span> . 2010</span><span> ,第006期</span> </span> </div> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/academic-journal-cn_detail_thesis/0201295100794.html">一类非仿射不确定非线性系统的自适应模糊输出反馈控制</a> <b>[J]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=毛玉青&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 毛玉青</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=张天平&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,张天平</a> <span> <a href="/journal-cn-57408/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 模糊系统与数学 </a> </span> <span> . 2007</span><span> ,第4期</span> </span> </div> </li> <li> <div> <b>6. </b><a class="enjiyixqcontent" href="/academic-conference-cn_meeting-29697_thesis/020222250130.html">一类不确定非线性系统的自适应鲁棒H<,∞>输出反馈控制</a> <b>[C]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=文静&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 文静</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=吴敏&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,吴敏</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=张凌波&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,张凌波</a> <span> <a href="/conference-cn-29697/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 第二十二届中国控制会议 </a> <span> <span> . 2003</span> </span> </div> </li> <li> <div> <b>7. </b><a class="enjiyixqcontent" href="/academic-degree-domestic_mphd_thesis/020311336761.html">一类非线性系统的高增益输出反馈控制设计</a> <b>[A] </b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=张孟英&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 张孟英</a> <span> . 2010</span> </span> </div> </li> </ul> <ul style="display: none;"> <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/patent-detail/06120200571947.html">一类可编程控制器编程通讯口的联接功能扩展模块</a> <b>[P]</b> . <span> 中国专利： CN2575729Y </span> <span> . 2003.09.24</span> </div> </li> <li> <div> <b>2. </b><a class="enjiyixqcontent" href="/patent-detail/06120112881909.html">一种用于脉冲波形不确定度评定的方法和控制器</a> <b>[P]</b> . <span> 中国专利： CN112924761A </span> <span> . 2021-06-08</span> </div> </li> <li> <div> <b>3. </b><a class="enjiyixqcontent" href="/patent-detail/06130403179586.html">Control Apparatus using approximation-based disturbance observer approach for adaptive tracking of uncertain pure-feedback nonlinear systems with unmatched disturbances</a> <b>[P]</b> . <span> 外国专利：  KR101966155B1 </span> <span> . 2019-04-08</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：使用基于近似的干扰观测器方法的控制设备，用于具有不匹配干扰的不确定纯反馈非线性系统的自适应跟踪 </span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/patent-detail/06130403356416.html">Control Apparatus using approximation-based disturbance observer approach for adaptive tracking of uncertain pure-feedback nonlinear systems with unmatched disturbances</a> <b>[P]</b> . <span> 外国专利：  KR20180138506A </span> <span> . 2018-12-31</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：使用基于近似的干扰观测器方法的控制设备，用于具有不匹配干扰的不确定纯反馈非线性系统的自适应跟踪 </span> </p> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/patent-detail/06130432896286.html">Automatic gain controller outputting control value varying nonlinearly, and a method of outputting a gain control signal thereof</a> <b>[P]</b> . <span> 外国专利：  US7409018B2 </span> <span> . 2008-08-05</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：自动增益控制器输出非线性变化的控制值，以及输出其增益控制信号的方法 </span> </p> </li> </ul> </div> </div> </div> <div class="theme cardcommon" style="overflow: auto;display:none"> <h3 class="all_title" id="enpatent55">相关主题</h3> <ul id="subject"> </ul> </div> </div> </div> </div> <div class="right rightcon"> <div class="details_img cardcommon clearfix" style="margin-bottom: 10px;display:none;" > </div> </div> </div> <div id="thesis_get_original1" class="downloadBth" style="bottom: 19px;z-index: 999;" onclick="ywcd('0704023066766','4',7,2,1,'',this,24)" class="delivery" prompt="010401" title="通过人工服务将文献原文发送至邮箱" >获取原文</div> <div class="journalsub-pop-up" style="display: none"> <div class="journal-sub"> <h2>期刊订阅</h2> <img src="https://cdn.zhangqiaokeyan.com/img/loginclose.png" alt="关闭" onclick="$('.journalsub-pop-up').hide()"> <p class="pardon">抱歉，该期刊暂不可订阅，敬请期待！</p> <p class="current">目前支持订阅全部北京大学中文核心（2020）期刊目录。</p> <div style="display: flex;margin-top: 69px;justify-content: space-between;"> <div class="no-sub" onclick="$('.journalsub-pop-up').hide()">暂不订阅</div> <div class="other-sub" onclick="continueSub('from=pc-detail')">继续订阅其他期刊</div> </div> </div> </div> <div class="right_btn"> <ul> <li class="gouwuche">  </li> <li class="yijian"> <a href="javascript:void(0);" onclick="link_analysis('/mycenter/auth/complaint.html',this)" title="意见反馈">意见反馈</a> </li> <li class="top"> <a href="javascript:scrollTo(0,0);" title="回到顶部">回到顶部</a> </li> <li class="shouye"> <a href="/" title="首页">回到首页</a> </li> </ul> </div> <div class="xllindexfooter"> <div class="xllindexfootercenter"> <div class="xllindexfooterleft left" > <div class="xllindexfooterleftli"> <ul> <li><a href="/about.html" title="关于掌桥">关于掌桥</a></li> <li><a href="/help/helpmap.html" title="资源导航">资源导航</a></li> <li><a href="/help/helpguide.html" title="新手指南">新手指南</a></li> <li><a href="/help/helpcenter.html" title="常见问题">常见问题</a></li> <li><a href="/sitemap.html" title="网站地图">网站地图</a></li> <li><a href="/help/helpcenter.html?type=9" title="版权声明">版权声明</a></li> </ul> </div> <div class="xllindexfooterleft"> <p class="xllindexfooterlefteamil">客服邮箱：kefu@zhangqiaokeyan.com</p> <div class="xllindexfooterlefttcp"> <div class="xllindexfooterpoliceiimg"></div> <div class="xllindexfooterpoliceispan"> <span>京公网安备：11010802029741号 </span> <span>ICP备案号：<a href="https://beian.miit.gov.cn" rel="nofollow" target="_blank" title="ICP备案号">京ICP备15016152号-6</a></span> <span>六维联合信息科技 (北京) 有限公司©版权所有</span> </div> </div> </div> </div> <div class="xllindexfooterright left"> <ul> <li> <p style="font-weight: bold;">客服微信</p> <div></div> </li> <li> <p style="font-weight: bold;">服务号</p> <div></div> </li> </ul> </div> </div> </div> <span id="0704023066766down" data-source="7," data-out-id="TlbDwIZfaKR7V4vyLOPGaP/yPCkeMIOB4SWVLvpYwep0CAimrSV4Ey905+p7A+nS," data-f-source-id="7" data-title="Extended filtering high‐gain output feedback controller for a class of uncertain nonlinear systems subject to external disturbances" data-price="20" data-site-name="" data-transnum="24" style="display:none;"></span> <input type="hidden" value="4" id="sourcetype"> <input type="hidden" value="21736" id="journalid"> <input type="hidden" value="1" id="inyn_provide_service_level"> <input type="hidden" value="https://cdn.zhangqiaokeyan.com" id="imgcdn"> <input type="hidden" value="1" id="isdeatail"> <input type="hidden" value="" id="syyn_indexed_database"> <input type="hidden" value="" id="servicetype"> <input type="hidden" id="pagename" value="Extended filtering high‐gain output feedback controller for a class of uncertain nonlinear systems subject to external disturbances"/> <input type="hidden" value="thesis_get_original" id="pageIdentification"> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/jquery-1.12.4.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/lwlh_ajax.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/zq.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/common.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/jquery.cookie.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/top.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/tip.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/login.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/down.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/search.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/newmail.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/searchtype.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/user/regist.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/zxs_solor/detail.js?v=5.7.9"></script> <script type="text/javascript" src="https://www.zhangqiaokeyan.com/statistics/static/pagecollection.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/tj.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/sse.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/pushbaidu.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/common/history.js"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/util/cookie.js?v=5.7.9"></script> <script type="text/javascript" src="https://cdn.zhangqiaokeyan.com/js/weipu/weipu.js?v=5.7.9"></script> </body> <script> function kefu(customization) { var from = GetQueryString("from"); if (from == null || from == "") { from = "other"; } var url = getWxWorkQrCode(55, from, customization); if (url == "" || typeof url == 'undefined') { url = "https://wework.qpic.cn/wwpic/994838_0LUTS-VqR0quT1N_1675665967/0"; } tipDocGuidance(url, '人工辅助获取外文期刊材料'); } $(function () { var weiPuStatus = getCookie('WeiPuStatus'); if (weiPuStatus) { tipWeiPuStatus(weiPuStatus); delCookie('WeiPuStatus'); } getFacetKeywordVoInId(); var sourcetype = $("#sourcetype").val(); var inyn_provide_service_level = $("#inyn_provide_service_level").val(); if ((sourcetype == 1 || sourcetype == 4) && inyn_provide_service_level != 4) { getJournal(); } }) </script> </html>