Robust H nonlinear control via measurement feedback

M. Shergei, U. Shaked

Research output: Contribution to journalArticlepeer-review

Abstract

This paper deals with the problem of finite-time-horizon robust H control via measurement feedback, for affine nonlinear systems with nonlinear time-varying parameter uncertainty. The problem addressed is the design of a control law, which processes the measured output and guarantees a prescribed level of closed-loop disturbance attenuation. Conditions for the existence of such a controller are obtained by solving an auxiliary control problem for a related system which is obtained from the original one by converting the parameter uncertainty into exogenous bounded energy signals. This approach allows us to apply the recently developed H nonlinear control techniques to solve the robust control problem. The problem is investigated in both the continuous- and discrete-time cases. The results are demonstrated by a simple example.

Original languageEnglish
Pages (from-to)975-987
Number of pages13
JournalInternational Journal of Robust and Nonlinear Control
Volume7
Issue number11
DOIs
StatePublished - Nov 1997

Keywords

  • Discrete- and continuous-time control
  • Nonlinear H-control
  • Robust control

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