불확실한 비선형 시스템에 대한 H$\infty$ 강인제어

Robust H$\infty$ control of uncertain nonlinear systems

In this paper, we consider H.inf. control of nonlinear systems which have not only additive uncertainties but also input-multiplicative uncertainties. Using the relation between the L$_{2}$ gain of a nonlinear system and the Hamilton-Jacobi-Isaacs inequality, we define