Document Type


Publication Date



Taylor & Francis

Source Publication

Systems Science & Control Engineering

Source ISSN


Original Item ID

DOI: 10.1080/21642583.2017.1310636


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.


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

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

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