Robust regulation with minimal parametrization for a class of nonlinear systems (Q1301445)

The problem of robust regulation state feedback law design for a class of single-input-single-output nonlinear systems under unknown and unmodelled time-varying uncertainties is considered. In particular, the author focuses on dynamic feedback laws for which the dimension of the internal dynamics is as small as possible. Assuming the knowledge of a suitable smooth Lyapunov function, the author uses a small gain theorem in order to obtain sufficient conditions on the system ensuring the existence of a desired controller consisting of just one integrator and a smooth nonlinear map. Furthermore, an iterative procedure for computation of this feedback law is given and illustrated by an example.