Output feedback control with disturbance compensation in nonlinear MIMO systems under measurement noises.

A novel output feedback control law with disturbance compensation for nonlinear multi-input multi-output (MIMO) time-invariant systems under measurement noises is proposed. The designed control law, based on the noise and disturbance estimations, ensures the accuracy in steady state depending on the disturbance, only one component of noise vector and its first derivatives. Therefore, the proposed algorithm is efficient under noises with large magnitudes. Sufficient conditions in terms of linear matrix inequalities (LMIs) provide a practical exponential stability of the closed-loop system. The simulations illustrate an efficiency of the proposed method compared with some existing ones. [ABSTRACT FROM AUTHOR]