Robust control of non-linear affine systems

摘要

Issue of robust control for non-linear affine systems with uncertainties appearing in both drift and non-drift terms are presented. Based on Lyapunov function approach, control laws are proposed to guarantee uniformly asymptotic stability of the equilibrium point. To facilitate the design and simplify the checking procedure, stabilization control for the uncertain systems possess asymptotic stabilizable nominal time-invariant driftness terms are proposed for the demonstration of robust design.