Decentralized adaptive output feedback control of large scale interconnected nonlinear systems

In this paper, we present a global, decentralized adaptive design procedure for a class of large scale nonlinear systems, which utilizes only local output feedback. The advocated scheme guarantees robustness to parametric and dynamic uncertainties in the interconnections, and also rejects any bounded disturbances entering the system. The uncertainties are assumed to be bounded by an unknown pth order polynomial in the outputs. The resulting controller maintains global uniform boundedness of all signals of the closed-loop system with good robustness and disturbance rejection properties