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讨论了在自由系统和输入通道都带有有界不确定性的仿射非线性系统的鲁棒Ｈ∞控制问题，给出了状态反馈控制设计，对所有允许的不确定性它既能保证关于Ｈ∞模的干扰抑制品质，又能镇定该系统．同时指出如果一个相应的Ｈａｍｉｌｔｏｎ－Ｊａｃｏｂｉ不等式有非负解，则该不确定仿射非线性系统的鲁棒Ｈ∞控制问题可解
The problem of robust H∞ control for affine nonlinear systems with bounded uncertainties in both the free system and the input channel is discussed. The design of the state feedback control is given. For all allowed uncertainties, H∞ mode interference suppression quality, but also to stabilize the system. It is also pointed out that if a corresponding Hamilton-Jacobi inequality has a non-negative solution, the robust H∞ control problem of the uncertain affine nonlinear system is solvable