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本文研究了具有不确定性非线性系统的鲁棒输出跟踪控制问题，考虑了对参数、建模不确定性及干扰的鲁棒性，这里的不确定性不需满足通常的匹配条件，通过构造一个Ｌｙａｐｕｎｏｖ函数，我们得到一个变结构控制器，并且证明了输出跟踪误差的收敛性。最后，给出了计算机仿真。结果表明本文提出的方法是有效的。
In this paper, the problem of robust output tracking control for nonlinear systems with uncertainties is investigated, considering the robustness of parameters, modeling uncertainty and interference. The uncertainties here do not need to satisfy the usual matching conditions. By constructing A Lyapunov function, we obtain a variable structure controller, and prove the convergence of the output tracking error. Finally, computer simulation is given. The results show that the proposed method is effective.