Reliable guaranteed cost control for uncertain affine nonlinear systems

This paper is concerned with the guaranteed cost control for uncertain affine nonlinear systems with actuator failures. A more practical model of actuator failures than outage is adopted. Based on the Hamilton-Jacobi inequality (HJI) approach from nonlinear guaranteed cost control theory, a method for designing of reliable state feedback controllers is presented. The resulting closed-loop system is reliable in the sense that the performance (internal stability and the cost function owns upper bound) of the system is guaranteed not only when all actuators are operational, but also when some actuator failures occur.