Output linear feedback for a class of nonlinear systems based on the invariant ellipsoid method

The robust output stabilization problem for a class of uncertain nonlinear systems with disturbances is considered. The suggested control scheme as well as the observation algorithm are based on the invariant ellipsoid method, which allows to obtain the robust linear feedback as a solution of the special linear optimization problem with bilinear constraints. The methods for solving this optimization problem involves the LMI technique. The stabilization of a single link flexible joint manipulator is considered as an illustrative example.