The uncertain version of almost disturbance decoupling problem with stability is defined and investigated for a class of nonlinear cascaded like systems with nonlinear parameter uncertainty.
作者针对一类具有非线性参数不确定性的非线性递阶系统，研究了带有稳定性的几乎干扰解耦问题的鲁棒情形。
As to the attitude stablization of reentry vehicle with parameter uncertainties, its variable structure decoupling control law is designed and simulation results are given.
讨论了其滑模面的构造方法和解耦控制条件，在姿态控制中保证了姿态跟踪期望值。
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