中文摘要：

研究了一类具有未知非线性项的输出反馈非线性系统的鲁棒输出调节问题．与以往内模（internal model）设计的不同之处在于，由于系统未知非线性项的存在，除了外系统和对象信息外，镇定设计中产生的镇定函数也被用于构建系统内模方程；给出的backstepping算法可确保在闭环系统全局信号最终有界情况下调节输出至与零相差任意预先设定小的值．仿真结果说明了控制算法的有效性．

英文摘要：

The robust output regulation problem was analyzed for a class of nonlinear systems in output feedback form with unknown nonlinearities. Compared with the classic internal model design, besides information of the exosystem and the plant, stabilizing functions generated from the stabilization process are also used to construct the internal model in the presence of system unknown nonlinearities. The presented backstepping algorithm can regulate the output to any prescribed accuracy while maintaining uniform ultimate boundedness of overall signals. The simulation shows the effectiveness of the proposed control algorithm.