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A solution to the problem of disturbance attenuation via measurement feedback with internal stability is presented for an affine nonlinear system. It is shown that the concept of disturbance attenuation, in the sense of truncated L/sub 2/ norms, can be given an interpretation in terms of the response to periodic inputs in the sense of RMS amplitude, even in the nonlinear setup. In the case of state feedback, a family of controllers is also provided. The proofs of all these results are simple and provide deeper insight even in the analysis of the corresponding linear control problem.>
Isidori et al. (Wed,) studied this question.