Regarding a class of multi-input and multi-output (MIMO) nonlinear systems, this paper presents a multi-variable linear extended state observer (MVLESO), which is applied to estimate uncertain dynamics of system real-timely. After that, a new frequency-domain analysis approach is explored to present the convergence property of MVLESO with respect to the estimation on uncertain dynamics. Meanwhile, the estimation error is mathematically modeled in frequency domain. Based on the as-built MVLESO, a robust dynamic inversion control (DIC) approach is put forward, and then it is applied to stabilize the attitude angular speeds of hypersonic vehicle. Simulation results show that, the proposed MVLESO can accurately estimate the time-varying uncertain dynamics in nonlinear system, and the deduced model about estimation error is also verified to be tenable. Furthermore, compared with the traditional DIC scheme, the MVLESO-based DIC scheme can stabilize the attitude angular speeds of researched vehicle more rapidly, and it can also possess stronger robustness against modeling uncertainties and structural disturbances.

针对一类多输入多输出（MIMO）非线性系统，提出了一种多变量线性扩展状态观测器（MVLESO），该系统用于实时估计系统的不确定性。在此之后，探索了一种新的频域分析方法，以针对不确定性动力学的估计提供MVLESO的收敛性。同时，估计误差在频域中进行数学建模。基于已建成的MVLESO，提出了一种鲁棒的动态反演控制（DIC）方法，并将其应用于稳定高超声速飞行器的姿态角速度。仿真结果表明，所提出的MVLESO算法能够准确估计非线性系统中时变的不确定动力学，并且推导了估计误差模型的有效性。