ROBUST-CONTROL SYNTHESIS FOR UNCERTAIN NONLINEAR DYNAMIC-SYSTEMS

This paper addresses the problem of robust state and output-feedback controller design for uncertain and nonlinear dynamic systems. First, a robust state-feedback nonlinear control law is synthesized. This control strategy practically stabilizes the closed-loop system. Then a state estimator for the nonlinear/uncertain plant is designed and its performance analyzed. Finally, the control law and the estimator are combined and the practical stability region is estimated. The results are illustrated by their application to a benchmark problem for robust control design.