document: Robust L/sub 2 / disturbance attenuation for nonlinear systems with input dynamical uncertainty Deals with the problem of robust L/sub 2 / disturbance attenuation for nonlinear systems with input dynamical uncertainty . The input dynamical uncertainty is restricted to be minimum-phase and relative degree zero . A sufficient condition . is given such that the nonlinear system satisfies the L/sub 2 / gain performance and input-to-state stable property . Using this condition , a design approach is given for a smooth state feedback control law that solves the robust L/sub 2 / disturbance attenuation problem , and the approach is extended to a more general case where the nominal system has higher relative degree . Finally , a numerical example is given to demonstrate the proposed approach
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