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中文摘要：
调整控制计划的柔韧的部分状态的反馈 asymptotic 与非线性的不确定性和未知控制方向为阶式系统的一个班被开发。一种参数分离技术被介绍把变化时间的不确定性和不可测的状态与非线性的函数分开。然后，和改变供应函数的想法的 Nussbaum 类型获得方法在能保证靠近环的系统的所有信号一致地全球性被围住的一个光滑的部分状态的管理者的设计被采用。特别，系统状态 asymptotically 收敛到零。设计过程通过一个例子和控制器可行、有效的模拟结果表演被说明。
英文摘要：
A robust partial-state feedback asymptotic regulating control scheme is developed for a class of cascade systems with both nonlinear uncertainties and unknown control directions. A parameter separation technique is introduced to separate the time-varying uncertainty and the unmeasurable state from nonlinear functions. Then, the Nussbaum-type gain method together with the idea of changing supply functions is adopted in the design of a smooth partial-state regulator that can ensure all the signals of the closed-loop system are globally uniformly bounded. Especially, the system state asymptotically converges to zero. The design procedure is illustrated through an example and the simulation results show that the controller is feasible and effective.
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