Robust control of nonlinear systems with state dependent uncertainties

For single-input single-output uncertain nonlinear system, we show how the problem of global robust stabilization via recursive design can be solved by using less conservative bounding functions. The system is assumed to have a gain bounded unknown nonlinear function with semi-strict feedback structure. Moreover we extend the obtained controller to have disturbance attenuation property by modifying the Lyapunov-like function.