Disturbance attenuating output-feedback control of nonlinear systems with local optimality

Locally optimal backstepping is extended to output-feedback systemswith input disturbances and nonlinearities that depend only on the measured output. The constructive design blends worst-case "ltering with backstepping, and results in a disturbance attenuating dynamic output-feedback controller that achieves semiglobal inverse optimality and local near-optimality. 2001 Published by Elsevier Science Ltd.