ROBUST-CONTROL OF FEEDBACK LINEARIZABLE LARGE-SCALE SYSTEMS

The design of decentralized controllers for a class of uncertain inter connected nonlinear systems is considered. The uncertainty considered here is time-varying and appears at each subsystem and interconnection s. Two control techniques are explored. The first one, namely, the fee dback linearization control, involves a known and autonomous nonlinear system. The second one, namely, the robust control, is especially sui table if any uncertainty and/or time-varying factors are involved in t he nonlinear dynamics. These two controllers are combined to stabilize a class of large-scale nonlinear uncertain systems. Two decentralized robust controllers, nonadaptive and adaptive, are proposed and those results are proved.