Robust Dynamic State Feedback Guaranteed Cost Control of Nonlinear   Systems using Copies of Plant Nonlinearities
  This paper presents a systematic approach to the design of a robust dynamic state feedback controller using copies of the plant nonlinearities, which is based on the use of IQCs and minimax LQR control. The approach combines a linear state feedback guaranteed cost controller and copies of the plant nonlinearities to form a robust nonlinear controller. 
Obaid Ur Rehman, Ian R. Petersen
cs.SY