Stabilization of generalized triangular form systems with dynamic uncertainties by means of small gain theorems

We prove that a nonlinear control system with periodic dynamics in the generalized triangular form (GTF) which is affected by external disturbances can be uniformly input-to-state stabilized by means of a periodic feedback and the gain can be chosen arbitrarily small in some sense. This allows us to stabilize such a system in presence of unmeasured dynamic uncertainties.