Develops the theory for tracking control using the nonlinear H∞ control design methodology for a class of nonlinear input affine systems. The authors use a two-step process of first designing the feedforward part of the controller to design for perfect trajectory following and then design the feedback part of the controller using nonlinear H∞ regulator theory. Results for infinite-time and finite-time horizons are presented
Ball, J. A.,
Krener, A. J.
H∞ tracking control for a class of nonlinear systems.
IEEE Transactions on Automatic Control, 44(6),