Disturbance attenuation via output feedback for nonlinear systems with input matching uncertainty.

This paper studies the problem of output feedback disturbance attenuation for a class of nonlinear systems with input matching uncertainty, whose nonlinearities are bounded by unmeasured states multiplying unknown input and output polynomial functions. Combining the technique of dynamic gain and extended state observer, an adaptive output feedback controller is designed to guarantee that the states of the closed-loop system are globally bounded, and the disturbance attenuation is achieved in the <inline-graphic></inline-graphic>-gain sense. [ABSTRACT FROM AUTHOR]