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Guaranteed robustness bounds for matched-disturbance nonlinear systems

Authors
Journal
Automatica
0005-1098
Publisher
Elsevier
Publication Date
Volume
44
Issue
9
Identifiers
DOI: 10.1016/j.automatica.2007.12.018
Keywords
  • Nonlinear Control
  • [Formula Omitted]Analysis
  • Actuator-Disturbance
Disciplines
  • Design

Abstract

Abstract This paper considers input affine nonlinear systems with matched disturbances and shows how to compute an a priori upper bound of the H ∞ attenuation level achieved by the optimal L 2 controller and the suboptimal H ∞ central controller. The case where the disturbance contains a constant term is also discussed. These bounds are shown to depend only on the function mapping the control input to the performance variable. This result is used to derive a robust control design for a special, but practically important, class of non-input affine nonlinear systems consisting of the series connection of a nonlinear state and input dependent map and of a nonlinear input affine dynamical system. Approximate inversion of the nonlinear static map leads to a robust control problem which fits into the framework. The effectiveness of the theoretical results is shown by its use for the robust control design of a diesel engine test bench.

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