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中文摘要：
基于奇异摄动理论结合动态逆设计的控制方法，研究了一类非仿射非线性系统的渐近稳定问题。通过将控制律定义为一个快动态系统的解，使原系统的状态能够准确地跟踪参考系统，且跟踪误差为零．同时给出了系统吸引区内的一个正不变子集，并证明了系统状态能够在有限时间内进入该子集，最终实现渐进稳定。用该方法构造的控制器实现起来较为简单，仿真结果表明了理论方法的有效性。
英文摘要：
A novel control method for asymptotical stabilization based on singular perturbation theory combined with inverting design was considered for a class of nonaffine nonlinear systems. The resulting control signal was defined as a solution of a ＂fast＂ dynamical equation, and the state of the original nonaffine-in-control system was shown to track the reference model with zero tracking error Moreover, from the proof, the trajectory enters the positively invariant subse of the region of attraction infinite time and achieves asymptotical stabilization ultimately. The control law can be easily constructed and the simulations illustrate the theoretical results.
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