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The authors consider the problem of robust control via measurement feedback for a class of uncertain nonlinear systems. Usual assumptions like triangularity conditions and global Lipschitzness used in previous work on this topic are not imposed. The key tool employed in the constructive control design procedure is the recent small (nonlinear) gain theorem which has already proved very powerful in solving diverse control problems.
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Jiang et al. (1999) studied this question.
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