Decentralized disturbance attenuating output-feedback trackers for large-scale nonlinear systems (Q1614407)

The problem of (partially) decentralized output-feedback tracking with disturbance attenuation is studied for a class of large-scale and minimum phase nonlinear systems with strong output-dependent nonlinearities. First a (partially) decentralized observer is introduced. Next, a constructive step-wise design procedure is proposed to construct a tracking controller. This controller achieves asymptotic tracking and internal Lagrange stability (in the absence of disturbance inputs), and guarantees external stability (in the presence of disturbance inputs).