Disturbance and plant uncertainties attenuation for a class of nonlinear systems using GPI technique

The problem of disturbance and plant uncertainties attenuation for nonlinear system is one of the most important topics in nonlinear control theory. In this paper, we try to solve the problem for a class of nonlinear systems. For this reason, an Generalized Proportional Integral (GPI) technique based observer is firstly proposed, which not only asymptotically estimate the information of all the states, as well as a general class of disturbance and its derivative. After that, a robust output feedback controller is constructed. By carefully selecting the controller and observer gains, the disturbance and plant uncertainties attenuation ability is delicately proved. Numerical simulation results demonstrate the feasibility and efficacy of the proposed method.