Decentralized robust disturbance attenuation for a class of large-scale nonlinear systems

We solve the problem of decentralized H1 almost disturbance decoupling for a class of large-scale nonlinear uncertain systems in the absence of matching conditions. The method combines ideas from decentralized adaptive control and cen-tralized nonlinear H1 control. We relax earlier assumptions on the uncertain time-varying interconnections which are de-manded to be only bounded by general nonlinear functions in this work. c © 1999 Elsevier Science B.V. All rights reserved