Robust decentralized control with scalar output of multivariable structurally uncertain plants with state delay

The problem of a robust control system design for interconnected systems with structural and parametrical uncertainty was solved for the case where derivatives of input and output parameters cannot be measured. The order of the mathematical model may change over time. Operability of the designed control systems in the case of non-measurable and bounded disturbances acting on the controlled plant was demonstrated. Only the measurable variables of the local subsystems are used to generate the control actions, that is, control is completely decentralized.