Robust and resilient optimal controller design for a class of nonlinear system with general criteria

A general methodology is provided for the design of robust and resilient state feedback controllers for a large class of continuous-time uncertain nonlinear systems with sector type nonlinearities and driven by finite energy disturbances. This controller design is robust for all unknown nonlinearities in a given hypersphere and additive finite-energy disturbances in addition to being resilient against additive bounded control gain perturbations. Results are presented for various performance criteria in a unified framework using linear matrix inequalities in the formulation. In addition, discrete-time counterpart results are also given. Illustrative examples are included to demonstrate the efficiency of the proposed approach.