Decentralized control of nonlinear large-scale systems using dynamic output feedback

In this paper, a class of nonlinear large-scale systems with similar subsys tems is studied. Both matched and unmatched uncertainties are considered by utilizing their bounding functions, and the interconnections take a more g eneral form than considered previously. Based on a constrained Lyapunov equ ation, a nonlinear dynamic output feedback decentralized controller is pres ented. Unlike existing results, matched uncertainties are considered in the control design; by using a decomposition of the interconnections, the know n and uncertain interconnections are treated separately; thus, the robustne ss is improved and conservativeness is reduced significantly. The computati on effort for solving the Lyapunov equation is greatly reduced by taking in to account the similar subsystem structure. Finally, simulation is used to illustrate the effectiveness of our results.