Robust stabilization of MIMO nonlinear time-varying mismatched uncertain systems (Q1388114)

The problem of robust stabilization of multi-input-multi-output (MIMO) nonlinear systems in the presence of time-varying uncertainties is considered. It is assumed that the dynamics are governed by ordinary nonautonomous coupled systems. By using differential geometric feedback linearization, the authors have derived two robust stabilizing controllers: a high-gain feedback controller and a variable structure controller. These two controllers require only the knowledge of the nominal system and a bound of the uncertainties. The main tool of the paper is a generalization of the so-called stable combined perturbation method, which allows to obtain a high-gain feedback controller.