Abstract
A robust control scheme with a gain-scaling factor is proposed for an extended class of nonlinear systems. Compared with many previous studies, our considered systems are more generalised by including uncertain parameters, perturbed nonlinearities, and external disturbance. With our control scheme, all states of the controlled system remain bounded. Moreover, it is shown that the ultimate bounds of some system states can be made (arbitrarily) small by adjusting the gain-scaling factor depending on the nonlinearities and external disturbance. The effectiveness of our control scheme is experimentally shown via its application in the control of an electromagnetic levitation system.
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