Decentralized control design: uncertain systems with strong interconnections

We design decentralized controls for interconnected non-linear dynamical systems with uncertainties. This uncertainty is (possibly fast) time-varying. It may appear in each system as uncertain parameter and input disturbance. It also may appear in the interconnections. No statistical information about the uncertainty is imposed; only its possible bound is assumed to be known. The design takes the interconnections into explicit account. That is, the interconnections are to be compensated rather than to be tolerated. Under a mild assumption, interconnections with arbitrary non-linear bound can be addressed. This renders all previous works on this theme as special cases.