Semi-global state feedback H∞ control of nonlinear systems-an approach via linear systems with self-scheduling parameters

We consider semi-global L² gain analysis and semi-global state feedback H^∞ control design for nonlinear systems described as linear systems with self-scheduling parameters. First we show a method to convert linear systems with self-scheduling parameters into linear systems with scheduling parameters based on evaluation of the domain of the self-scheduling parameter. Second, using the tools for linear systems with scheduling parameters, we discuss semi-global L² gain analysis and semi-global H^∞ control design and propose an approach together with feasible formulas of computation