Measurement feedback nonlinear H ∞ control of linear systems with actuator nonlinearities

Abstract

This paper applies nonlinear H ∞ control techniques to linear systems with actuator nonlinearities. In [3], this was treated under the certainty equivalence assumption. The control design produces a finite dimensional measurement feedback controller which is computable online provided certain conditions are met. In this paper, we do not use certainty equivalence theory. Instead, we use the more general theory of [2]. We design a controller for globally stabilizable linear systems with actuator nonlinearities which is finite dimensional and computable but does not require the onerous certainty equivalence assumption.