<p>This paper investigates the problem of global non-fragile and finite-time output-feedback stabilization for a class of lower-triangular nonlinear systems with output uncertainty. Firstly, two essential matrix inequalities are derived. Utilizing these inequalities, two homogeneous systems with unknown perturbations are constructed, and it is demonstrated that these systems achieve global non-fragile finite-time stability. Secondly, an auxiliary variable is introduced, leading to the derivation of an augmented system. The output uncertainty is transformed into the state equation of this augmented nonlinear system. Then, based on the switching control strategy, an augmented global non-fragile finite-time output-feedback controller is designed to withstand significant gain perturbations and output uncertainty. Finally, the proposed method’s effectiveness is validated through numerical simulations conducted on a single-linkage manipulator.</p>