Robust control of nonlinear systems with structured perturbation

Robust stabilization with disturbance attenuation performance is considered for nonlinear systems with gain bounded perturbations. Such an output feedback controller is proposed based on two positive definite solution of Hamilton-Jacobi inequalities, that the closed-loop system is exponentially stable (uniformly on the uncertainties) and L/sub 2/-gain of the closed system is robustly small than one.