A New Class Of Stabilizing Controllers For Nonlinear Uncertain Systems

Stabilization of uncertain dynamical systems is studied, and a new class of stabilizing control is proposed. The newly proposed control is computationally simpler and works for systems with as much input-unrelated uncertainties as those coped with under existing robust controls. The distinct feature is that the control is decoupled with respect to possible uncertainties; that is, each component in the control vector requires only the bounding function of the corresponding local uncertainty. This feature allows one to design scalar robust controls specifically for possible uncertainties at different control channels