Global robust H∞ control for non-minimum-phase uncertain nonlinear systems without strict triangular structure
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CitationZhao, S., Zhao, J., Dimirovski, G.M. (2005). Global robust H∞ control for non-minimum-phase uncertain nonlinear systems without strict triangular structure. 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005, Volume 16, (pp. 425-430). Prague, Czech Republic, Elsevier.
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.