Output stabilization of uncertain dynamical systems without matching conditions

Given a linear uncertain dynamical system and an output, a state feedback control is given for output stabilization. The uncertainty of the dynamical system does not need to be matched. The control is of saturation type with its direction determined by the output and magnitude determined by the whole state variables as well as the bounds of uncertainties. It can be shown that the construction of the control does not rely on the structural assumption of the uncertainty, which is needed for all of the previous work for full state stability.