Robust linear dynamic output feedback controllers for a class of nonlinear systems

This paper proposes a convex approach for designing linear dynamic output feedback controllers for a class of uncertain nonlinear systems. The nonlinear system is described by means of differential-algebraic equations, where the system matrices are allowed to be rational functions of the state and uncertain parameters. Using polynomial Lyapunov functions, we give sufficient conditions in terms of linear matrix inequalities that locally stabilizes the origin of the closed-loop system while providing an estimate of its domain of attraction.