并在系统的扩张状态观测器和非线性状态误差控制器中引入非线性幂指数函数，使系统运算变得更加简单。
A nonlinear exponential function is applied to ESO and nonlinear state error feedback (NLSEF) controller, and it makes the system realize easier operation.
给出了填充函数的区间扩张，并提出了求解该非光滑优化问题的区间填充函数算法。
It gives an interval enclosure for filled function and presents an interval filled function algorithm to solve this nonsmooth optimization.
选取满足条件的不同非线性函数可以得到不同形式的非线性扩张状态观测器。
A different nonlinear function that satisfies some conditions can be lead to a nonlinear ESO with different forms.
应用推荐