NUMERICAL APPROACH TO COMPUTING NONLINEAR H-INFINITY CONTROL LAWS

An algorithm and data structure are developed for finding the Taylor series solution of the Hamilton-Jacobi-Isaacs equation associated with the nonlinear H-infinity control problem. This algorithm yields a set of linear algebraic equations that not only lead to a transparent solvability condition of the Hamilton-Jacobi-Isaacs equation in the form of the Taylor series, but also furnish a systematic procedure to generate the coefficients of the Taylor series. This algorithm is illustrated through a missile pitch autopilot design example.