Abstract
This paper presents a technique for constructing a storage function for a broad class of nonlinear passive systems with mismatched uncertainties. And the problem for H ∞ disturbance attenuation with internal stability is studied by using robust adaptive output feedback controller which need not construct any state observer. The paper also shows how to explicitly design output feedback control that attenuates the disturbances effect on the output to an arbitrary degree of accuracy. Further, the results derived in this paper complement the previous work in the literature.
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