H-infinity control of nonlinear systems via output feedback: controller parameterization

摘要

The standard state space solutions to the H-infinity control problem for linear time invariant systems are generalized to nonlinear time-invariant systems. A class of local nonlinear (output feedback) H-infinity controllers are parameterized as nonlinear fractional transformations on contractive, stable nonlinear parameters. As in the linear case, the H-infinity control problem is solved by its reduction to state feedback and output estimation problems, together with a separation argument. Sufficient conditions for H-infinity-control problem to be locally solved are also derived with this machinery.