Robust decentralised control of a servomechanism problem for a class of nonlinear systems

Robust decentralised control of a class of nonlinear system so as to track a given reference input signal and reject a known class of disturbance signals is proposed. The controller consists of tracking-error-driven servocompensators and local stabilisers. The servocompensators contain the modes of not only the external signals but also the internal signals. The local stabiliser must be designed to yield large damping and low overshoot. A computer-aided-design procedure is given.