中文摘要：

考虑状态和输入受约束的非线性仿射系统，提出了Sontag型控制器的优化设计．首先把标准Sontag公式转变为一时变控制，其中时变参数近似闭环系统的衰减率；其次，结合滚动时域控制原理，设计了两种满足系统约束的最优Sontag型控制算法，并证明约束闭环系统的区间渐近稳定性．最后，与标准Sontag型控制的对比仿真验证了本文控制算法的有效性．

英文摘要：

The optimal design of Sontag type controllers was proposed for nonlinear eontrol-affine systems subject to constraints of the state and input. Firstly, the standard Sontag formula was modified as a time- varying controller where the time-varying parameter was close to the decay rate of the closed-loop system. Secondly, two algorithms of optimal Sontag-type controller were designed by combining the principle of receding horizon control, which were guaranteed to satisfy the system constraints. The regional asymptotic stability of the closed-loop system was then achieved. Finally, the effectiveness of this control scheme was illustrated by the comparison of the controller obtained here and the standard Sontag-type controller in simulation.