H_∞ Control for Affine Nonlinear Systems

Abstract

In this paper we consider H_∞ control and filtering for affine nonlinear systems. Taking quadratic functions satisfying Hamilton-Jacobi-Isaacs inequalities for H_∞ control and filtering, we give γ-suboptimal state feedback controllers and filters, and domain of their validity. We then combine these results and construct γ-suboptimal output feedback controllers. We also give the domain of γ-disturbance attenuation.