DECENTRALIZED CONTROL FOR INTERCONNECTED UNCERTAIN SYSTEMS - EXTENSIONS TO HIGHER-ORDER UNCERTAINTIES

Decentralized controller design for large-scale uncertain systems with higher-order uncertainties is investigated. The uncertainties are assumed to be bounded by a known or unknown pth-order polynomial in states. A non-adaptive controller is proposed to handle the case when the pth-order polynomial is known. An adaptive controller is proposed to deal with the unknown case. The effectiveness of the proposed decentralized control schemes is demonstrated by a numerical simulation of two inverted pendulums on carts.