Robust Stabilization of Nonlinear Systems via Stable Kernel Representations with L2-Gain Bounded Uncertainty

摘要

The approach to robust stabilization of linear systems using normalized left coprime factorizations with H(sub infinity) bounded uncertainty is generalized to nonlinear systems. A nonlinear perturbation model is derived, based on the concept of a stable kernel representation of nonlinear systems. The robust stabilization problem is then translated into a nonlinear disturbance feedforward H(sub infinity) optimal control problem, which solution depends on the solvability of a single Hamilton-Jacobi equation.