Almost disturbance decoupling for nonlinear delayed systems with L2-gain disturbance attenuation

This paper studies the problem of almost disturbance decoupling for strict feedback nonlinear delayed system with adaptive L₂-gain disturbance attenuation. A backstepping-like design method is proposed. In the delay-independent recursive design method, the effect of time delays vanishes with new Lyapunov functions being proposed. Based on our method, it can conclude that there exist robust control strategies that solve the almost disturbance attenuation problem for nonlinear systems with time delays.