This paper proposes a robust method for shaping desirable limit cycles in a class of nonlinear systems affected by matched uncertainties. To this end, first, a set stabilization-based method is utilized for shaping desirable limit cycles in the phase trajectories of the nominally controlled system. The modified Lyapunov theorem suitable for set stability analysis is utilized to prove the asymptotic stability of the created limit cycle. The method also takes into account the probable undesirable changes which may be appeared in the transient response of the uncertain system in comparison with the nominal system and tries to eliminate this problem during the robust controller design. In this regard, to estimate the uncertain terms, a high-gain filter is designed. This filter includes a parameter that can adjust the deviation from the trajectories of the nominal system in the presence of uncertainties to achieve nominal performance recovery. Using time-scale separation method and singular perturbation theory, it's proved that the trajectories of uncertain system coincide with those of the nominal system for small values of the filter parameter. Two practical examples at the end of the paper illustrate the design procedure and effective performance of the proposed controller.

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