针对一类可反馈线性化的不确定性非线性系统 ,研究了鲁棒观测器———控制器设计问题 .当系统不确定性满足匹配条件时 ,设计问题转化为不确定性线性系统的设计 .给出了以李亚普诺夫方法为基础的设计算法 .计算实例证明了所提方法的有效性 . For a class of uncertain nonlinear systems with feedback linearization, a robust observer-controller design problem is studied. When the system uncertainties satisfy the matching conditions, the design problem is transformed into the design of an uncertain linear system The design algorithm based on Lyapunov method is given, and the calculation example proves the validity of the proposed method.