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针对一类含有不确定性的非线性系统，首先通过精确线性化方法，将其变为一种规范型形式，在一定的不确定性的假设条件下，构造了鲁棒控制器，仿真算例说明了方法的有效性。
For a class of nonlinear systems with uncertainties, firstly, by means of the exact linearization method, it is transformed into a canonical form. Under certain assumptions of uncertainty, a robust controller is constructed. The simulation example The effectiveness of the method is illustrated.