Output Feedback Robust Tracking Control of Nonlinear System with Almost Disturbance Decoupling

Abstract

This paper presents a design of semiglobal robust tracking output feedback controller with almost diturbance decoupling for a class of nonlinear systems. The system is affected by uncertainty and unknown time-varying dicturbances. The uncertainty is described by gain bounded unknown nonlinear functions of the state variables. If the system is of relative degree one and of minimum phase, the proposed controller ensures input-to-state stability with respect to disturbance inputs, and almost disturbance decoupling properties for any initial condition and for any smooth bounded output reference signal.