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针对满足匹配条件、一阶时变非线性关联系统，提出了预先规定稳定度的静态非线性反馈鲁棒控制器设计方法．系统的不确定性有界，但在控制器设计时未知．系统的不确定性不但包括子系统间的关联不确定性和子系统内的不确定性，而且包括有界输入扰动．所设计的控制器对不确定性的界具有非常强的鲁棒性．只要不确定性满足匹配条件，被控系统将以预先规定的稳定度指数收敛于平衡点或平衡点附近的残余小球内．通过耦合双倒立摆的数值仿真表明了控制方法的有效性．
Aiming at the first-order time-varying nonlinear system with matching conditions, a design method of static nonlinear feedback robust controller with pre-specified stability is proposed. The system’s uncertainty is bounded, but unknown at controller design. The uncertainty of the system includes not only the uncertainty of the correlation between the subsystems and the uncertainty of the subsystems, but also the bounded input disturbances. The designed controller has very strong robustness to the bounds of uncertainty. As long as the uncertainties satisfy the matching conditions, the controlled system will converge to the equilibrium point or the residual pellet near the equilibrium point with a predetermined stability index. The numerical simulation of the double inverted pendulum shows the effectiveness of the control method.