H₂−H_∞ Control of Continuous-Time Nonlinear Systems Using the State-Dependent Riccati Equation Approach

Authors

Xin Wang, Southern Illinois University Edwardsville
Edwin E. Yaz, Marquette UniversityFollow
Susan C. Schneider, Marquette UniversityFollow
Yvonne I. Yaz, Milwaukee School of EngineeringFollow

Document Type

Article

Publication Date

2017

Publisher

Taylor & Francis

Source Publication

Systems Science & Control Engineering

Source ISSN

2164-2583

Original Item ID

DOI: 10.1080/21642583.2017.1310636

Abstract

This paper presents a novel state-dependent Riccati equation (SDRE) control approach with the purpose of providing a more effective control design framework for continuous-time nonlinear systems to achieve a mixed nonlinear quadratic regulator and H∞ control performance criteria. By solving the generalized SDRE, the optimal control solution is found to achieve mixed performance objectives guaranteeing nonlinear quadratic optimality with inherent stability property in combination with H∞ type of disturbance reduction. An efficient computational algorithm is given to find the solution to the SDRE. The efficacy of the proposed technique is used to design the control system for inverted pendulum, an under-actuated nonlinear mechanical system.

Comments

Published version. Systems Science & Control Engineering, Vol. 5, No. 1 (2017): 224-231. DOI. © 2017 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group. Used with permission.

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

Recommended Citation

Wang, Xin; Yaz, Edwin E.; Schneider, Susan C.; and Yaz, Yvonne I., "H₂−H_∞ Control of Continuous-Time Nonlinear Systems Using the State-Dependent Riccati Equation Approach" (2017). Electrical and Computer Engineering Faculty Research and Publications. 728.
https://epublications.marquette.edu/electric_fac/728