Compensation of Mismatched Disturbances in Nonlinear Systems

The paper deals with the problem of state feedback control with compensation of mismatched unknown disturbances in nonlinear systems. The proposed control law is based on two control methods: backstepping method and auxiliary loop method. The backstepping method allows control under mismatched disturbances with guarantying the input-to-state stability. The additional use of a new auxiliary loop method allows to significantly reduce the influence of disturbances in the closed-loop system. The simulations illustrate the advantages of the proposed method with some existing ones.