Reduced gain controllers for a class of uncertain dynamical systems

A class of uncertain systems described by ordinary differential equations and whose uncertainties can be characterized by certain structural conditions (the matching conditions) and known bounding parameters ( kappa and lambda ) are discussed. For any prescribed rate of exponential convergence, linear state-feedback controllers which yield exponential stability are presented. It is shown how the controller gain matrix can be chosen so that its norm is bounded above affinely in kappa . An illustrative example is also given.<>