Abstract
This paper considers two aspects of the nonlinear H ∞ control problem: the use of weighting functions for performance and robustness improvement, as in the linear case, and the development of a successive Galerkin approximation method for the solution of the Hamilton—Jacobi—Isaacs equation that arises in the output-feedback case. Design of nonlinear H ∞ controllers obtained by the well-established Taylor approximation and by the proposed Galerkin approximation method applied to a magnetic levitation system are presented for comparison purposes.
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