研究了一类具有不确定性非线性系统的鲁律稳定性问题．首先，对一类具有不确定性的非线性系统，基于精确反馈线性方法，通过状态坐标变换z=T（x）和输入状态反馈变换u=α（x）＋β（x）v，将其化为一可控线性系统．接着，当不确定性满足给定的假设条件下，基于Lyapunov方法，给出了鲁律控制器的一种设计方法，用定理给出了鲁律控制器存在的条件和保证不确定非线性系统渐近稳定条件，并给予严格证明．然后，给出了鲁棒渐近稳定控制器具体算法最后，针对一设计实例，应用提出的算法设计了鲁棒控制器，证明了所提方法的有效性． In this paper, the stability of a class of non-linear systems with uncertainties is studied. First of all, for a class of uncertain nonlinear systems, based on the exact feedback linear method, state coordinate transformation z = T (x) and input state feedback transformation u = α (x) + β A controlled linear system. Then, under the assumption that the uncertainties meet the given conditions, a design method of the Lu control is given based on the Lyapunov method. The theorem is given to the existence of the Lu control and the guarantee of the uncertain nonlinear system Asymptotic stability conditions, and give strict evidence. Then, a specific algorithm of robust asymptotic stable controller is given. Finally, a robust controller is designed for a design example, and the proposed method is proved to be effective.