Robust H_∞ Control of Nonlinear Systems with Uncertainty

Abstract

This paper investigates robust H_∞ control problem for affine nonlinear systems with uncertainty. A sufficient condition is given for that the nonlinear system is robust exponential stable and the L₂ gain is less than one under the presence of gain bounded perturbation. Using this condition such a state feedback controller is obtained that the closed loop system is robust H_∞ sub-optimal. The results given in this paper include the result obtained in linear system.