Nonlinear bounded control for norm-bounded uncertain systems

In this paper, a method to derive a bounded continuous feedback control function which stabilizes a norm bounded uncertain linear system in a certain region is proposed. The aim is to ensure a certain performance level in a neighborhood (ellipsoid) of the origin, through a guaranteed cost state feedback control. Outside this neighborhood, a linear-like control with state-dependent gains is obtained from the solutions of a family of parameter dependent algebraic Riccati equation similar to the one arising in H_∞ control