Simplified robust control for nonlinear uncertain systems: a method of projection and online estimation

Robust control based on an online estimation of uncertainty is presented for a class of nonlinear uncertainty systems. The estimation is done via a robust observer after system uncertainties are mapped into an one-dimensional subspace. The proposed combination of dynamics projection and online estimation is to relax the knowledge about the size of uncertainty and required in the robust control design, to make robust control less conservative while being effective, and to ensure robust stability without undue complexity.