Global robust H∞ control for non-minimum-phase uncertain nonlinear systems without strict triangular structure

Abstract

This paper deals with the robust H∞ control problem for a class of multi-input non-minimum-phase nonlinear systems with parameter uncertainty. A system of this class is assumed to be in a special interlaced form, which includes a strict triangular form as a special case. By using an extension of backstepping, nonlinear static-state feedback controllers are designed such that the closed-loop system is input-to-state stable with respect to the disturbance input and has the prescribed L2-gain from the disturbance input to the controlled output for all admissible parameter uncertainties.