Semi-globally stable decentralized control of a class of large-scale interconnected nonlinear systems

Decentralized control of a class of large-scale interconnected nonlinear systems with uncertain and bounded nonlinear interconnections is considered in this paper. Both state regulation and state tracking problems are considered. In the case of state regulation it is shown that a linear decentralized feedback controller achieves semi-global exponential stability. In the case of state tracking, a new decentralized continuous control law is also designed, which guarantees that each subsystem tracking error is ultimately bounded within a certain neighborhood of zero. For both the regulation and the tracking cases, the proposed controllers are compared with an existing higher-order global controller via simulation examples.