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This paper studies the problem of output feedback disturbance attenuation for a class of uncertain nonlinear systems with input matching uncertainty and unknown multiple time-varying delays, whose nonlinearities are bounded by unmeasured states multiplying unknown polynomial-of-output growth rate. By skillfully combining extended state observer, dynamic gain technique, and Lyapunov-Krasovskii theorem, a delay-independent output feedback controller can be developed with only one dynamic gain to guarantee the boundedness of closed-loop system states and the achievement of global disturbance attenuation in the L2-gain sense.

Disturbance Attenuation via Output Feedback for Nonlinear Time-Delay Systems with Input Matching Uncertainty