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Given an uncertain dynamical system with a linear nominal part, matched uncertainties, and a measured output, a sufficient condition is given for the existence of an output feedback stabilizing controller. For the general multiinput multioutput case, checking the sufficient condition involves the selection of a matrix F . For the special class of single input single output systems, F is a positive or negative scalar and it is shown that if the nominal system transfer function is strictly positive real, then an output feedback stabilizing controller does indeed exist.
Steinberg et al. (Tue,) studied this question.