Abstract
We study the control design problem for uncertain nonlinear systems. A new matching condition is presented. The main idea is to explore the route through which the (worst case) uncertainty may affect the stability. This route is then used to establish the new matching condition. Compared with the previous case, the current matching condition prescribes the route nonlinearly while the early matching condition is a special case of the linear description. A class of robust controls, which guarantees practical stability, can be designed based on this new matching condition. The size of the uniform ultimate boundedness ball can be made arbitrarily small by an appropriate choice of a design parameter.
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