《Robust Control for Strict-feedbackForm Nonlinear Systems and ItsApplication严格反馈型非线性系统鲁棒控制及应用》可供从事控制科学与工程相关工作的科研人员和工程技术人员阅
读，也可作为高等院校自动化、应用数学及相关专业的高年级本科生、研究
生的参考用书。
Preface Acronyms Chapter 1 Introduction1
1.1 Background1
1.2 Organization9
References10
Chapter 2 Robust Output Feedback Control of a Class of Nonlinear Systems in Normal Form 13
2.1 RobustControlforaClassofSISONonlinearSystems13
2.1.1 Introduction 13
2.1.2 Problem Description of Nonlinear Systems in Normal Form 14
2.1.3 Robust Output Feedback Control Based on Signal Compensation 16
2.1.4 Robust Property Analysis of Closed-loop Systems Based on Signal Compensation 19
2.1.5 Experimental Results 29
2.2 Robust Output Feedback Control for a Class of MIMO 3-DoF Helicopter Systems32
2.2.1
Introduction 32
2.2.2 Modeling of Helicopter 3-DoF Motion 33
2.2.3 Robust Controller Design of 3-DoF Helicopter 35
2.2.4 Robust Control Properties of 3-DoF Helicopter 38
2.2.5 Experimental Results 44
2.3 Conclusion48
References49
Chapter 3 Su.cient and Necessary Condition of Admissibility for Fractional-order Singular System 52
3.1 Introduction52
3.2 Preliminaries54
3.3 Su.cient and Necessary Condition of Admissibility for Fractional-order Singular System55
3.4 Numerical Example62
Conclusion63
3.5 References64
Chapter 4 Robust Backstepping Control for Strict-feedback Form Systems with Nonlinear Uncertainty 67
4.1 Robust Backstepping Control for SISO Strict-feedback Form Systems68
4.1.1 Introduction68
4.1.2 Problem Description of SISO Strict-feedback Form Systems 69
4.1.3 Robust Backstepping Control Based on Signal Compensation 71
4.1.4 Robust Property Analysis of Closed-loop Systems 75
4.1.5 Simulation Results 82
4.2 Robust Decentralized Control for MIMO Strict-feedback Form
Systems88
4.2.1 Introduction 88
4.2.2 Problem Description of MIMO Strict-feedback Form Systems 91
4.2.3 Robust Decentralized Control Design Procedure 92
4.2.4 Robust Property of Closed-loop Systems 96
4.2.5 Simulations Results 102
4.3 Robust Backstepping Decentralized Tracking Control for a 3-DoF Helicopter111
4.3.1 Introduction 111
4.3.2 Problem Description of the 3-DoF Helicopter 114
4.3.3 Control Task of the 3-DoF Helicopter 118
4.3.4 Robust Control Design Procedure of the 3-DoF Helicopter 119
4.3.5 Robust Property of the 3-DoF Helicopter System 121
4.3.6 Experimental Results 127
References133
Chapter 5 Robust Decentralized Control for Uncertain MIMO Nonlinear Systems with Time-varying Delays 139
5.1 Introduction139
5.2 Problem Description of MIMO Nonlinear Time-delay Systems143
5.3 Control Design Procedure of MIMO Nonlinear Time-delay Systems145
5.4 Robust Property of MIMO Nonlinear Time-delay Systems149
5.5 Simulation Results157
5.6 Conclusions161
References161
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