研究一类包含未知非线性项的非线性系统的鲁棒输出调节问题.此类非线性系统由一包含未知参数的线性中性稳定的外系统驱动.首先运用调节器方程组解和标准内模将输出调节问题转化为镇定问题;然后给出控制律镇定闭环系统,同时利用镇定输入项和外系统信息设计出自适应内模方程.控制律使得闭环系统的信号全局最终有界,且误差被调节至预先设定的任意小的精度值.仿真结果验证了所提出设计方法的有效性. The problem of robust output adjustment for a class of nonlinear systems involving unknown nonlinear items is studied. Such nonlinear systems are driven by a linearly neutral stable external system with unknown parameters. First, Then, the closed-loop system of control law stabilization is given. At the same time, an adaptive internal model equation is designed by using the stable input term and the external system information. The control law makes the signal of the closed-loop system finally bounded globally and the error is adjusted To any preset small precision value.The simulation results verify the validity of the proposed design method.