A control Lyapunov function approach to stabilization of nonlinear systems with H∞ control

This paper proposes a nonlinear control method for magnetic suspension systems, which combines linear H_∞ control methodology with the control Lyapunov function (CLF) approach. The linear controller is designed by taking into account of given control specifications around the equilibrium point, and then an appropriate CLF based nonlinear compensation ensures the global stability with least efforts. The latter is designed not to work near the equilibrium point in order to enhance the merit of linear controller. The effectiveness of the proposed method is demonstrated by simulation