Robust regulator of partially state feedback linearizable uncertain nonlinear systems

We consider single-input nonlinear systems with unknown unmodelled time-varying parameters or disturbances whose bounds are known. The main goal is to identify classes of uncertain systems for which the control exist and to provide constructive design procedures. Assuming that the undisturbed nominal system (f, g) is locally partially state feedback linearizable, that a strict triangularity condition and q ϵ G_r-1 hold for the uncertain terms, and that some condition is satisfied in the transformed partially linear system, we can design a robust local regulating state feedback control. At first, we identify class of nonlinear uncertain systems and give a systematic procedure for the design of a robust regulation for the nonlinear systems.