Decentralized Robust Control Design for Systems with Strong Interconnections

We design decentralized controls for interconnected nonlinear dynamical systems with uncertainties. This uncertainty is (possibly fast) time-varying. It may appear in each system as uncertain parameter and input disturbance. It also may appear in the interconnections. No statistical information about the uncertainty is imposed; only its possible bound is assumed to be known. The design we propose here takes the interconnections into explicit account. In other words, the interconnections are to be compensated than to be tolerated.