Robust Stabilization and Disturbance Attenuation for Systems with Structured Nonlinearities

This paper presents a method based on the use of covariance control for parametrising a set of fixed-order, linear, disturbance-attenuating output feedback control laws for plants with structured nonlinearities. The disturbance rejection is measured by the induced B2 norm of the operator from the disturbance vector to the regulated output vector. The results are also provided for static output feedback and estimator designs.