Control design with guaranteed ultimate bound for perturbed systems

We present a new control design method for perturbed multiple-input systems, which guarantees any desired componentwise ultimate bound on the system state. The method involves eigenvalue/eigenvector assignment by state feedback and utilises a componentwise bound computation procedure. This procedure directly takes into account both the system and perturbation structures by performing componentwise analysis, thus avoiding the need for bounds on the norm of the perturbation. The perturbation description adopted can accommodate for numerous types of uncertainties, including uncertain time-delays in the feedback loop. We apply the method to an example taken from the literature to illustrate its simplicity and generality.