Robust and resilient state dependent control of continuous-time nonlinear systems with general performance criteria

A novel state dependent control approach for continuous-time nonlinear systems with general performance criteria is presented in this paper. This controller is optimally robust for model uncertainties and resilient against control feedback gain perturbations in achieving general performance criteria to secure quadratic optimality with inherent asymptotic stability property together with quadratic dissipative type of disturbance reduction. For the system model, unstructured uncertainty description is assumed, which incorporates commonly used types of uncertainties, such as norm-bounded and positive real uncertainties as special cases. By solving a state dependent linear matrix inequality at each time, sufficient condition for the control solution can be found which satisfies the general performance criteria. The results of this paper unify existing results on nonlinear quadratic regulator, H_∞ and positive real control. The effectiveness of the proposed technique is demonstrated by simulations of the nonlinear control of the Furuta pendulum.