Measurement Feedback Control of Nonlinear Systems with Non-Feedforward and Feedforward Nonlinearities

We generalize the measurement feedback control problem in [6] by allowing both non-feedforward and feedforward nonlinearities in the system. By measurement feedback, we mean that there exists sensor noise in the feedback channel in an additive form. Previously, only the feedforward nonlinearity has been considered in [6] due to its association with low-gain controllers. In including extended nonlinearities, the nonlinearity type classification of [2] and matrix inequality(MI) approaches are effectively utilized. The improvement of the current result over [6] is shown via analysis and an example.