Use of integrator in nonlinear H<inf>∞</inf> design for disturbance rejection

Publication Type:
Journal Article
Automatica, 2002, 38 (11), pp. 1951 - 1957
Issue Date:
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The disturbance suppression problem for nonlinear systems is examined in this paper. We review the so-called nonstandard mixed sensitivity problem, which introduces an integrator to a selected weight, as well as the linear classical disturbance suppression problem and the linear H∞ disturbance suppression problem. We extend this H∞ problem to the nonlinear case, and present a method to reduce the order of the state feedback Hamilton-Jacobi (HJ) partial differential equation for this nonlinear H∞ problem by extending the concept of comprehensive stability (Proceedings of the 36th Conference on Decision and Control, 1997, p. 4653; IEEE Trans. Ind. Electron. (1998) 488). Finally, we investigate the structure of the output feedback H∞ controller for disturbance suppression, and draw the conclusion that, as in the linear case, there must also be an integrator in the controller. © 2002 Elsevier Science Ltd. All rights reserved.
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