H`-Optimal Observer-Based Controller Design for Nonlinear Multivariable Systems

We propose a novel algorithm to synthesize an H`-optimal observer-based controller for a nonlinear multivariable system. Based on the parametrization of the observer-based controller, a necessary and sufficient condition to achieve robust stability is developed. Moreover, the Nevanlinna]Pick interpolation theory is employed to test the solvability condition of the robust stabilization problem. Optimal robustness can be achieved via the technique ofH`-optimization. The exact solution of the model-matching problem induced by the stability criterion is solved by the method of noniterative computation of the H`-norm.