考虑了一类具有稳定零动态观测器特征型随机非线性系统的输出反馈镇定问题应用一系列的状态变换，将系统转化为下三角结构以便于应用积分反推设计方法设计控制器设计了输出反馈控制器，证明了闭环系统的概率意义下的有界性当扰动向量场在原点处消逝时，闭环系统为概率意义下渐近稳定此控制器还满足非线性系统的平衡条件。

A minimal-order observer and output-feedback stabilization control are given for single-input multi-output stochastic nonlinear systems with unobservable states, unmodelled dynamics and stochastic disturbances. Based on the observer designed, the estimates of all observable states of the system are given, and the convergence of the estimation errors are analyzed. In addition, by using the integrator backstepping approach, an output-feedback stabilization control is constructively designed, and suf cient conditions are obtained under which the closed-loop system is asymptotically stable in the large or bounded in probability, respectively.