On a robust nonlinear servomechanism problem

摘要: A notion of kth-order robust control for the nonlinear servomechanism problem is introduced. transmission zeros condition given existence a law such that, regardless small parameter perturbations plant and law, closed-loop system will induce stable invariant manifold with error map zero up to at each point manifold. Such incorporates an internal model k subsystems determined by exosystem. special case result this paper recovers well-known linear result. >