Reliable H∞ control for uncertain affine nonlinear systems

The reliable H_∞ control for uncertain affine nonlinear systems with actuator failures is discussed. A more practical model of actuator failures than outage is adopted. Based on the Hamilton-Jacobi inequality (HJI) approach from nonlinear control theory, the methods for designing of state feedback and dynamic output feedback reliable H_∞ controllers are presented respectively. The resulting closed-loop systems are reliable in the sense that the performance of the system is guaranteed not only when all actuators are operational, but also when some actuator failures occur (internal stability and has a local L₂-gain less than or equal to the given positive constant r).