Document Type


Publication Date



Taylor & Francis

Source Publication

Systems Science & Control Engineering

Source ISSN


Original Item ID

DOI: 10.1080/21642583.2017.1310635


A novel H2−H State-dependent Riccati equation control approach is presented for providing a generalized control framework to discrete-time nonlinear system. By solving a generalized Riccati equation at each time step, the nonlinear state feedback control solution is found to satisfy mixed performance criteria guaranteeing quadratic optimality with inherent stability property in combination with H∞ type of disturbance attenuation. Two numerical techniques to compute the solution of the resulting Riccati equation are presented: The first one is based on finding the steady-state solution of the difference equation at every step and the second one is based on finding the minimum solution of a linear matrix inequality. The effectiveness of the proposed techniques is demonstrated by simulations involving the control of an inverted pendulum on a cart, a benchmark mechanical system.


Published version. Systems Science & Control Engineering, Vol. 5, No. 1 (2017): 215-223. 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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