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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


Control system synthesis; Control theory; Feedback; Feedback control systems; Feedforward; Feedforward control systems; H [infinity symbol] control; Nonlinear control systems; Nonlinear control theory; Tracking


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