惯量耦合、摩擦、电缆柔性、质量不平衡等不确定因素会导致稳定跟踪平台性能的下降，如何对平台各种不确定性扰动进行有效抑制已成为高精度稳定跟踪平台的首要任务之一。以滚转俯仰式红外导引头稳定跟踪平台为研究对象，利用扩张状态观测器对不确定扰动进行测量和分析，并基于鲁棒H_∞理论设计了扰动抑制算法。仿真结果表明，该方法与经典频域方法相比能够进一步提高系统对扰动的抑制能力。

The performance of a stable tracking platform declines owing to factors such as inertia coupling, friction, flexible cables, and mass imbalance. Effectively restraining the platform from all types of uncertain disturbances has become one of the top priorities for high-precision stable tracking platforms. Considering a roll-pitch infrared seeker platform as the research object and an extended state observer for uncertain disturbance measurement and analysis, a robust disturbance rejection algorithm is designed based on the H_∞theory. Simulation results show that this method can further improve the system in terms of inhibiting disturbance, as compared to the classical frequency domain method.