研究了一类具有非最小相位和非线性外部系统的非线性系统的全局鲁棒输出调节问题. 首先,利用浸入系统设计了一个非线性内模. 其次, 把原系统的全局鲁棒输出调节问题转化为增广系统的全局鲁棒镇定问题. 然后, 利用改变能量函数和动态增益技巧设计了一个状态反馈控制器,  使得闭环系统的解有界并且跟踪误差渐近趋于零. 最后, 利用仿真结果验证了所设计的控制器的有效性.

In this paper, global robust output regulation for a class of non-minimum phase nonlinear systems has been studied. Firstly, a nonlinear internal model was designed by using the immersion system. Secondly, the global robust output regulation of the original systems was converted into a global robust stabilization problem for an augmented system. Then, based on the techniques from changing supply function and dynamic gain, a state feedback control was given such that the solutions of the closed loop system exist and are bounded, and the tracking error tends to zero. Finally, simulation result has been
presented to show the effectiveness of the proposed control law.