Decentralized output feedback robust control for nonlinear large-scale systems (Q1298331)

The authors propose a Lyapunov function based approach to robust controller design for nonlinear large scale uncertain systems. In the paper both matched and mismatched uncertainties are considered and the nonlinear decentralized output controller stabilizes the system asymptotically. Although the problem solved by the authors seems to be very general (nonlinearities, mismatched uncertainties, output feedback) it is obvious that the assumptions satisfied by the system are very strong. First of all the nominal system should be exponentially stabilizable by output feedback, there exists a quadratic Lyapunov function satisfying very special conditions which in fact require quasilinearity of the system and the bounded function of mismatched uncertainty is dealt with by decomposing a factor described by a function of the output. The numerical aspects of the design procedure are illustrated by an example.