Robust Dynamic State Feedback Guaranteed Cost Control of Nonlinear Systems using Copies of Plant Nonlinearities

TL;DR

This paper introduces a systematic method for designing robust dynamic state feedback controllers for nonlinear systems, utilizing IQCs and copies of plant nonlinearities to ensure guaranteed cost performance.

Contribution

It proposes a novel approach combining IQCs and plant nonlinearities copies for robust nonlinear control design, enhancing stability and performance guarantees.

Findings

Successfully integrates IQCs with nonlinear copies for control design

Achieves guaranteed cost stability in nonlinear systems

Provides a systematic design procedure for robust controllers

Abstract

This paper presents a systematic approach to the design of a robust dynamic state feedback controller using copies of the plant nonlinearities, which is based on the use of IQCs and minimax LQR control. The approach combines a linear state feedback guaranteed cost controller and copies of the plant nonlinearities to form a robust nonlinear controller.