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    Attenuation of Persistent L∞-Bounded Disturbances for Nonlinear Systems

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    A version of nonlinear generalization of the L1-control problem, which deals with the attenuation of persistent bounded disturbances in L∞-sense, is investigated in this paper. The methods used in this paper are motivated by [23]. The main idea in the L1-performance analysis and synthesis is to construct a certain invariant subset of the state-space such that achieving disturbance rejection is equivalent to restricting the state-dynamics to this set. The concepts from viability theory, nonsmooth analysis, and set-valued analysis play important roles. In addition, the relation between the L1-control of a continuous-time system and the l1-control of its Euler approximated discrete-time systems is established