抄録
This paper deals with the problem of robust L2 disturbance attenuation for nonlinear systems with input dynamical uncertainty. The input dynamical uncertainty is restricted to be minimum-phase and relative degree zero. A sufficient condition is given such that the nonlinear system satisfies the L2 gain performance and input-to-state stable (ISS) property. Using this condition, a design approach is given for smooth state feedback control law that solves the robust L2 disturbance attenuation problem, and the approach is extended to more general case where the nominal system has higher relative degree. Finally, a numerical example is given to demonstrate the proposed approach.
