Global Stabilization with Almost Disturbance Decoupling of a Class of Nonlinear Uncertain Systems using Output Feedback

In this paper we study global stabilization of a class of nonlinear uncertain systems while decoupling the output from external disturbances to any specified degree of accuracy. The nominal systems are assumed to be smooth, have a certain strong relative degree and are of minimum phase. Model uncertainties are dealt with either by restricting them to be structured or/and by treating a family of plants P. Both state and output feedback control laws are developed.