Global disturbance attenuation for MIMO nonlinear systems with controlled output containing input

This paper studies the problem of global disturbance attenuation with stability for a class of multi-input multi-output nonlinear systems with penalty on input signal. The system under consideration is assumed to be in a special form which is much more general than the lower triangular form, A recursive algorithm composed of backstepping and augmentation is applied to show that the global disturbance attenuation with stability can be achieved via a static state feedback