ONE APPROACH TO THE CONTROL OF UNCERTAIN DYNAMICAL-SYSTEMS

We present a controller design methodology for uncertain systems which is based on the constructive use of Lyapunov stability theory. The un certainties, which are deterministic, are characterized by certain str uctural conditions and known as well as unknown bounds. As a consequen ce of the Lyapunov approach, the methodology is not restricted to line ar or time-invariant systems. The robustness of these controllers in t he presence of singular perturbations is considered. The situation in which the full state of the system is not available for measurement is also considered as are other generalizations.