SINGULAR NONLINEAR H-INFINITY OPTIMAL-CONTROL PROBLEM

The theory of nonlinear H-infinity optimal control for affine nonlinea r systems is extended to the more general context of singular H-infini ty optimal control of nonlinear systems using ideas from the linear H- infinity theory. Our approach yields under certain assumptions a neces sary and sufficient condition for solvability of the state feedback si ngular H-infinity control problem. The resulting state feedback is the n used to construct a dynamic compensator solving the nonlinear output feedback H-infinity control problem by applying the certainty equival ence principle.