Nonlinear Robust Regulation Using the Satis cing Paradigm

In this paper we use the recently introduced concept of satis cing decision theory to develop robustly stabilizing state-feedback control strategies for nonlinear systems subject to unknown disturbances. The result is a point-wise \input-to-state satis cing" set of control options from which a continuous feedback strategy can be selected. We show that every input-tostate satis cing control also de nes a universal formula in the sense de ned by Sontag.