Document Type




Format of Original

6 p.

Publication Date



International Federation of Automatic Control

Source Publication

Proceedings of the The 18th World Congress of the International Federation of Automatic Control (IFAC)

Source ISSN



A novel state dependent control approach for discrete-time nonlinear systems with general performance criteria is presented. This controller is robust for unstructured model uncertainties, resilient against bounded feedback control gain perturbations in achieving optimality for general performance criteria to secure quadratic optimality with inherent asymptotic stability property together with quadratic dissipative type of disturbance reduction. For the system model, unstructured uncertainty description is assumed, which incorporates commonly used types of uncertainties, such as norm-bounded and positive real uncertainties as special cases. By solving a state dependent linear matrix inequality at each time step, sufficient condition for the control solution can be found which satisfies the general performance criteria. The results of this paper unify existing results on nonlinear quadratic regulator, H∞ and positive real control to provide a novel robust control design. The effectiveness of the proposed technique is demonstrated by simulation of the control of inverted pendulum.


Published version. Published as part of the proceedings of the conference, The 18th World Congress of the International Federation of Automatic Control (IFAC), 2011: 10904-10909. © 2012 IFAC. This paper was originally published in IFAC-PapersOnLine, and is posted here with IFAC's permission for non-commercial purposes only. DOI.