H-infinity tracking control for a class of nonlinear systems

This paper develops the theory for tracking control using the nonlinear H-i nfinity control design methodology for a class of nonlinear input affine sy stems. The authors use a two-step process of first designing the feedforwar d part of the controller to design for perfect trajectory following and the n design the feedback part of the controller using nonlinear H-infinity reg ulator theory. Results for infinite-time and finite-time horizons are prese nted.