title: Robust L/sub 2/ disturbance attenuation for nonlinear systems with input dynamical uncertainty
abstract: Deals with the problem of robust L/sub 2/ 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 L/sub 2/ gain performance and input-to-state stable property. Using this condition, a design approach is given for a smooth state feedback control law that solves the robust L/sub 2/ disturbance attenuation problem, and the approach is extended to a more general case where the nominal system has higher relative degree. Finally, a numerical example is given to demonstrate the proposed approach
keyphrases: robust L/sub 2/ disturbance attenuation nonlinear systems input dynamical uncertainty sufficient condition L/sub 2/ gain performance input-to-state stable property design approach smooth state feedback control law nominal system robust control