Title :
A computational issue in nonlinear H∞ control
Author :
Hu, Shr-Shiung ; Yang, Pao-Hwa ; Chang, B.C.
Author_Institution :
Dept. of Mech. Eng. & Mech., Drexel Univ., Philadelphia, PA, USA
Abstract :
Ball, Helton, and Walker (BHW, 1993) derived nonlinear H∞ controller formulas with the assumption implying that no stable mode uncontrollable from the exogenous input. In this paper, we address the numerical difficulty encountered by BHW´s controller formulas when the assumption is not satisfied. Next, we propose a modified nonlinear H∞ controller and successfully remove the numerical difficulty
Keywords :
H∞ control; Riccati equations; control system analysis; nonlinear control systems; BHW controller; H∞ control; algebraic Riccati equation; exogenous input; nonlinear control systems; stable mode; Control systems; Energy dissipation; Force control; Mechanical engineering; Nonlinear control systems; Nonlinear equations; Riccati equations;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.703343
