Robust control of a class of nonlinear systems with parametric uncertainties

The robust stabilization of a class of nonlinear systems with bounded parametric uncertainties is considered. Firstly, based on Lyapunov stability theory, the state feedback controller is obtained when the nominal system is minimum-phase. Secondly, on the basis of above control law, we construct a closing-loop robust controller to attenuate the error between the original system and the nominal system which results to uncertain factors, such that the original nonlinear system has a robust asymptotic stabilization. Simulation results of an illustrative example justifies the effectiveness of the control law.