Trading robustness with optimality in nonlinear control

The mixed H-2/H-infinity control problem is studied for a class of nonlinea r systems. A procedure providing a sub-optimal solution to this problem is discussed and analyzed in detail. The sub-optimal state-feedback control la w can be obtained solving two Hamilton-Jacobi equations and a simple one pa rameter static minimization problem. A simple one-dimensional example is di scussed in detail and applications to the optimal/robust stabilization of t he angular velocities of a rigid body are included. (C) 2001 Elsevier Scien ce Ltd. All rights reserved.