Robust stabilization and Disturbance Attenuation of a Class of MIMO Nonlinear Systems with Multi-operation Points

In this paper a class of MIMO nonlinear systems with multi-operation points are considered. A nominal plant is introduced and the controlled plant is described as the nominal one with an equivalent disturbance which denotes the effect of property uncertainties of the plant at different operating point and disturbance. A nominal controller is first designed to stabilize the closed-loop system for the nominal plant, then a robust compensator is added to reduce the influence of the equivalent disturbance to achieve robust stabilization and disturbance attenuation.