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d_{i1}(x_i)u_i,\\qquad y_i= h_{i2}(x_i) + \\Delta h_i(x_i) + d_{i2}(x_i)\\omega_i,NEWLINE\\]NEWLINE where \\(i = 1,2,\\dots,N\\), \\(x_i\\in\\mathbb R^n\\) is the state, \\(y_i \\in\\mathbb R^m\\) is the measured output, \\(u_i \\in \\mathbb R^r\\) is the control input, \\(\\omega_i\\in\\mathbb R^m\\) is the exogenous input noise, \\(z_i\\in\\mathbb R^q\\) is the signal to be controlled, \\(f_i(x_i)\\), \\(g_i(x_i)\\), \\(g_{i0}(x_i)\\), \\(h_{i1}(x_i)\\), \\(h_{i2}(x_i)\\), \\(d_{i1}(x_i)\\), \\(d_{i2}(x_i)\\), and \\(Q_{ij}(x_i)\\), are known matrix functions with appropriate dimensions, \\(f_i(0) = 0\\), \\(h_{i1}(0)=0\\), \\(h_{i2}(0)=0\\), \\(\\Delta f_{i}(x_i)\\), \\(\\Delta g_{i}(x_i)\\) and \\(\\Delta h_{i}(x_i)\\) represent the uncertainties in the system and satisfy some intrinsic assumptions. 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