SDRE control of non-affine systems

In this paper, we present a new method for obtaining closed-form SDC matrices for synthesis of SDRE controller for non-affine nonlinear systems. Furthermore, we design SDRE controller with OCU method for proposed SDC form. Simulation results shows that proposed method for designing SDRE controller yields good tracking performance and smoothness of control signals. Robustness of the designed SDRE controller will be illustrated to a class of external disturbances.