Nonlinear \(L_ 2\)-gain suboptimal control (Q1367176)

The chain-scattering formalism transforms the control problem into an easier factorization problem. In the paper, the formalism is extended to the nonlinear case, especially in the small signal case. Under some specific conditions, sufficient conditions for the existence of a suboptimal controller in terms of a state-space description of the plant as well as a local state-space parametrization of a class of controllers solving the local \(L_2\)-gain suboptimal problem are obtained. In the example, a controller for a mechanical system is computed. Simulations show that the proposed approach and the obtained controller indeed improve the performance in comparison to the linear case.