Parametric decoupling control strategy for a class of nonlinear uncertain systems via observer-based output feedback

In this paper, the system decoupling problem has been investigated and a novel decoupling control strategy is presented for Lipschitz nonlinear uncertain multivariable systems. This control strategy consists of an explicit parametric state feedback controller and a linear state observer, where the free parameters of the controller can be adjusted to attenuate the coupling effects. In addition, the optimal parameters can be obtained using H infinity norm based performance criterion. The convergence of the observer, the robust stabilization of the controller and closed-loop system are analyzed while the sufficient conditions are determined. Following the design procedure of the presented control strategy, an illustrative numerical example is given to demonstrate the effectiveness and correctness of the presented control strategy.