Solutions to a class of non-standard non-linear H infinity control problems
This paper presents solutions to certain nonstandard nonlinear \(H_\infty\) control problems. The author considers nonlinear affine plants of the form \[ \dot x= f(x)+ g_1(x)w+ g_2(x)u,\quad z= h_1(x)+ d_{11}w+ d_{12}u,\quad y= h_2(x)+ d_{21}w, \] where \(x\in \mathbb{R}^n\) is the state; \(w\in\mathbb{R}^{m_1}\) and \(u\in\mathbb{R}^{m_2}\) are the external and control inputs, respectively; \(z\in \mathbb{R}^{p_1}\) and \(y\in \mathbb{R}^{p_2}\) are the optimized and measured outputs, respectively. It is assumed that the measurement output \(y\) is of dimension larger than the dimension of the external input \(w\). The feedthrough matrices \(d_{ij}\) are assumed to be constant and \(f\), \(g_1\), \(g_2\), \(h_1\), \(h_2\) are assumed to be smooth functions. Under proper assumptions, the original \(H_\infty\) problem is transformed to a problem of stabilization by means of output injection and solution to a Hamilton-Jacobi partial differential inequality arising in singular \(H_\infty\) state-feedback control. General sufficient solvability conditions are given. Explicit solutions are available in the local and semilocal cases. The former concerns a certain neighbourhood of the origin in the closed loop state-space, whereas the latter assumes that the trajectories are restricted to a neighbourhood of an invariant manifold. The issue of controller order is addressed and a reduced-order controller is obtained in the local case. A generalization of the chain-scattering formalism provides a very useful framework for solving this problem.
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