Global Stabilization with Almost Disturbance Decoupling of Single-Input-Single-Output Uncertain Nonlinear Systems using Output Feedback

In this paper we study global stabilisation, using output feedback, of single-input-single-output nonlinear uncertain systems while decoupling the output from external disturbances to any specified degree of accuracy. The nominal systems are assumed to be smooth, have a certain strong relative degree and be of minimum-phase. Model uncertainties are dealt with either by restricting them to be structured or/and by treating a family of plants P.