Decentralised controller design for robust stabilisation and L ₂ gain of nonlinear interconnected systems

In this paper, a decentralised controller is extended for robust stabilisation and L2 gain analysis of a class of nonlinear interconnected systems via dynamic output feedback control within the LMI framework. This large-scale system is composed of linear subsystems coupled by nonlinear time-varying interconnections satisfying quadratic constraints. An LMI approach is sufficiently proposed as a feasibility problem of a BMI with respect to controller gains via dynamic output feedback structure. An example of inverted pendulums is used to illustrate the applicability of extended approach.