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Decentralized robust stabilization for large-scale feedforward non-linear systems

In this paper, we consider the decentralized robust stabilization problem for large-scale feedforward non-linear systems, which possess an upper-triangular structure, while in the decentralized control area the commonly studied large-scale feedback non-linear systems possess a lower-triangular structure. Our decentralized robust stabilizer for each subsystem takes a nested saturation feedback, with the saturation levels satisfying a set of equations and inequalities. Global asymptotic stability of the closed-loop large-scale system has been proved, and a simulation example is given.