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研究了一类状态存在非线性不确定性的鲁棒控制问题，针对所有未知有界的不确定性，以状态反馈标准Ｈ∞控制方法为基础，给出这类不确定性问题的设计方法，得到了控制器的参数化描述，对于有界的非线性摄动ＮＣ伺服控制系统，设计了相应的控制器，使系统有较好的鲁棒性，并保证了控制精度．
In this paper, a class of robust control problems with nonlinear uncertainties is studied. For all unknown bounded uncertainties, the design method of such uncertainties is given based on the state feedback standard H∞control method. The parametric description of the controller is obtained. For the nonlinear NC perturbed bounded servo control system, a corresponding controller is designed to make the system more robust and ensure the control accuracy.