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This paper presents a systematic approach to the design of a robust dynamicstate feedback controller using copies of the plant nonlinearities, which isbased on the use of IQCs and minimax LQR control. The approach combines alinear state feedback guaranteed cost controller and copies of the plantnonlinearities to form a robust nonlinear controller.

Robust Dynamic State Feedback Guaranteed Cost Control of Nonlinear Systems using Copies of Plant Nonlinearities