中文摘要：

为提高水翼艇纵向运动控制的鲁棒性和节能效果，在保持已有的多输入多输出（Multiple—InputMuhipe—Out—put，MIMO）鲁棒控制器不变的基础上，引入正弦函数驱动的非线性反馈代替原有的误差线性反馈。仿真结果表明：在模型摄动时，鲁棒控制器主要改进纵摇效果，而非线性反馈控制能同时改进升沉和纵摇效果，控制效果比鲁棒控制器提升70％以上，控制能量比鲁棒控制器节省90％以上。简单的理论分析和仿真研究结果表明：正弦函数驱动的非线性反馈对于MIMO系统的控制同样适用。

英文摘要：

Abstract： In order to improve the robustness of the longitudinal motion control for hydrofoils and the energy consumption, a nonlinear sine function modulated error signal is introduced to replace the original linear error feedback while keeping the construction of the Multiple-Input Muhiple-Output （MIMO） robust controller unchanged. The simulation results show that under given perturbations, the original robust controller mainly improves the pitch damping effect, in contrast, the nonlin- ear feedback controller decreases the heave and pitch simultaneously. Tests indicate that over 70% of control effect im- provement with over 90% energy saving is achieved by introducing the nonlinear feedback.