Discrete-time robust controller design for a class of nonlinear systems with uncertainties

A discrete-time robust state feedback scheme is proposed to control a large class of uncertain nonlinear systems with locally conic type nonlinearities and driven by finite energy disturbances using linear matrix inequalities. In order to allow the robust control of systems whose models contain a higher degree of uncertainty, perturbations regarding the center and the boundaries of the cone in which the nonlinearity resides are considered in this work. Results are presented for various performance criteria in a unified design framework. Illustrative examples are included to demonstrate the effectiveness of the proposed methodology.