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Robust H control for a class of cascaded nonlinear systems

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2 Author(s)
Lihua Xie ; Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore ; Weizhou Su

This paper is concerned with the problem of robust H control for a class of nonlinear systems with parameter uncertainty. The system under consideration is composed of two cascaded subsystems: a zero-input asymptotically stable nonlinear one, and a linearizable one which is controllable. The uncertain parameters are from a known compact set and are allowed to enter the system nonlinearly. Based on a Lyapunov approach, a nonlinear static-state feedback controller is designed such that the L2-gain of the closed-loop system is below a prespecified value for all admissible uncertainties. Furthermore, the closed-loop system is shown to be robust input-to-state stable under some conditions

Published in:

Automatic Control, IEEE Transactions on  (Volume:42 ,  Issue: 10 )