Output Feedback Control of a Class of MIMO Uncertain Nonlinear Systems

This paper propose output feedback control for a class of multi-input-multi-output (MIMO) uncertain nonlinear discrete-time systems. System uncertain nonlinearities are estimated online by constructing a linear disturbance observer, and output feedback control is developed based on the estimation to compensate the nonlinearities. An obvious advantage of the proposed control is that it possesses simple linear control algorithm, which is of great significance in engineering.