The tracking control of a multi-input multioutput nonlinear nonminimum phase system in general form is discussed. This system is assumed to be suffering from parameter uncertainties and unmodeled dynamics, and the priori information of them is unknown. By considering both the exact model and uncertain model, the sliding mode-based learning controller is proposed. By designing an appropriate sliding surface and a learning controller, the stability of the closed-loop system is guaranteed for both the exact model and uncertain model. To overcome the disadvantage caused by parameter uncertainties and unmodeled dynamics, a fuzzy logical system is adopted here. A numerical simulation result carried on vertical takeoff and landing aircraft is taken as an example to validate the effectiveness of the presented controller.

中文翻译：

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基于MIMO非线性非最小相位系统的鲁棒滑模学习控制。

讨论了一般形式的多输入多输出非线性非最小相位系统的跟踪控制。假定该系统存在参数不确定性和未建模的动力学，并且它们的先验信息是未知的。通过同时考虑精确模型和不确定模型，提出了基于滑模的学习控制器。通过设计合适的滑动表面和学习控制器，可以为精确模型和不确定模型保证闭环系统的稳定性。为了克服参数不确定性和动力学建模的缺点，这里采用了模糊逻辑系统。以在垂直起降飞机上进行的数值模拟结果为例，验证了所提控制器的有效性。