Robust controller design with general criteria for uncertain conic nonlinear systems with disturbances

A robust state feedback scheme is proposed to control a large class of continuous-time uncertain nonlinear systems with locally conic type nonlinearities and driven by finite energy disturbances. It is assumed that there is also uncertainty regarding the center and the boundary of the cone in which the nonlinearity resides in order to allow the robust control of systems whose models contain a higher degree of uncertainty. Results are presented for various performance criteria using linear matrix inequalities. Illustrative examples are included to demonstrate the efficiency of the proposed approach.