EID-based Robust Stabilization for a Class of Nonlinear Uncertain Systems with Disturbances

This paper concerns robust stabilization for a class of nonlinear systems with uncertainties and disturbaces. The equivalent-input-disturbance (EID) approach is utilized to estimate the influence of nonlinearities and exogenous disturbances on the output of the system. A robust stability condition is derived in terms of linear matrix inequalities. Moreover, two parameters are used to tune the robustness of the system. Simulation results show that it is more effective to stabilize the system using the developed method than using the sliding-mode control (SMC) method.