Here's a real life working example in one of my apps

response.menu = [
    (T('Home'), request.controller == 'default' and request.function == 
'index', URL('default', 'index'), []),
    (T('Urgent Needs'), request.controller == 'needs', URL('needs', 
'index'), []),    
    (T('Debate'), request.controller == 'debate', URL('debate', 'index'), 
[]),
    (T('Tours'), request.controller == 'tours', URL('tours', 'index'), []),
]

If something like this doesn't work for you then I will need to see some 
code.

-- 
Resources:
- http://web2py.com
- http://web2py.com/book (Documentation)
- http://github.com/web2py/web2py (Source code)
- https://code.google.com/p/web2py/issues/list (Report Issues)
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