A nonsmooth strict bounded real lemma

In the theory of linear H control, the strict bounded real lemma plays a critical role because it provides a connection between the stabilizing solutions to the H Riccati equations and the stability and disturbance attenuation of the closed loop system. Nonlinear versions of the strict bounded real lemma are also important in nonlinear H control theory. In this paper we investigate the extension of the linear strict bounded real lemma and its smooth nonlinear generalization to cases where the solutions of the associated nonlinear PDE are not necessarily differentiable.