Trading robustness with optimality in nonlinear control

The mixed H /H control problem is studied for a class of nonlinear systems. A procedure providing a sub-optimal solution to this problem is discussed and analyzed in detail. The sub-optimal state-feedback control law can be obtained solving two Hamilton}Jacobi equations and a simple one parameter static minimization problem. A simple one-dimensional example is discussed in detail and applications to the optimal/robust stabilization of the angular velocities of a rigid body are included. 2001 Elsevier Science Ltd. All rights reserved.