정합조건을 만족하는 불확실성에 대한 비선형 시스템의 강인제어 = Robust Control of A Class of Nonlinear Systems under Matched Uncertainties

다국어 초록 (Multilingual Abstract)

A nonlinear feedback multivariable controller is used to stabilize a class of nonlinear systems. The controller is robust in the sense that the both output and internal state of the feedback system are ultimately bounded in the presence of matched uncertainties. The controller consists of decoupling control law, which linearizes the input-output behavior of the system, and vector saturating function for robustness correction. Restrictive assumptions on the structure of the system are required but they eliminate the ambiguities of the internal stability conditions which appear in the prior literature.