Robust output tracking control for nonlinear interconnected systems with similar structure

This paper considers the output tracking problem of a class of nonlinear uncertain interconnected systems with similar structure. A robust controller is designed so that for all allowable uncertainties the output of systems tracks the command reference signal and the states remain bounded. The similar structure of systems is utilized to the design of controller with holographic structure, and the investigation shows that similar structure can simplify the analysis and design of systems. At last, a simulation example is included to demonstrate the effectiveness of the method presented in this paper.