The theory of nonlinear H∞ of optimal control for affine nonlinear systems is extended to the more general context of singular H∞ optimal control of nonlinear systems using ideas from the linear H∞ theory. Our approach yields under certain assumptions a necessary and sufficient condition for solvability of the state feedback singular H∞ control problem. The resulting state feedback is then used to construct a dynamic compensator solving the nonlinear output feedback H∞ control problem by applying the certainty equivalence principle.
|Number of pages||21|
|Journal||International journal of robust and nonlinear control|
|Publication status||Published - 1996|
- Hamilton-Jacobi equations
- Nonlinear Systems
- robust stability