Dynamic gain control with a matrix inequality approach to uncertain systems with triangular and non-triangular nonlinearities

We consider the global regulation problem of uncertain systems with both triangular and non-triangular nonlinearities. For the global regulation in the presence of non-triangular nonlinearities, we propose a dynamic gain controller designed by using power order conditions and a matrix inequality condition imposed on non-triangular nonlinearities. Compared with the existing results, the proposed control method allows a class of nonlinear systems that have not been treated before. Analysis and examples are given to prove the general applicability of our control method.