中文摘要：

采用弱控制Lyapunov函数方法,对非线性仿射系统进行了时变Sontag型控制器设计.通过聚点条件保证了此控制器的全局连续性,并利用LaSalle不变集原理证明了该控制的全局镇定性以及对一定范围的输入不确定性具有鲁棒性.此外,调节时变参数减弱了控制器性能对控制Lyapunov函数选择的依赖,并使控制器对可调整的系统控制指标具有最优性.最后通过对一开环不稳定系统的仿真研究,说明了本文控制器的有效性和实用性.

英文摘要：

By exploiting the method of weak control Lyapunov function, a time-vary Sontag-type controller was designed for nonlinear affine systems. The accumulation point condition guaranteed the global continuity of this controller and the principle of LaSalle invariant set was used to ensure its global stabilization and robustness to some input uncertainties. Moreover, the adjustment of the time-vary parameter lessened the controller＇s dependence on the selection of control Lyapunov function and made the controller optimal for some adjustable control performance indexes. Finally, the effectiveness of this controller is illustrated via the simulation study of an open-loop unstable system.