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本文研究了输入线性出现在状态方程中的一类不确定非线性系统的鲁律镇定问题。通过状态坐标变换和具有反馈的输入变换将不确定非线性系统线性化，基于Lyapunov第二法，对不确定性满足匹配条件和不满足匹配条件时，给出参数不确定性非线性系统的鲁棒镇定规律，并给出计算实例。
In this paper, we study the problem of Lu Lu-Liang stabilization for a class of uncertain nonlinear systems in which the input linearly appears in the state equation. Nonlinear system is linearized by state coordinate transformation and input transformation with feedback. Based on the Lyapunov second method, when the matching conditions are satisfied for the uncertainties and the matching conditions are not satisfied, the uncertainties of the nonlinear system are given. Rod stabilization law, and gives the calculation example.