Robust H¥ control of uncertain nonlinear time-varing systems via state feedback



 This paper considers the robust control problem for an affine nonlinear time-varing system with gain bounded uncertainty. We address the problem of designing a state feedback controller such that -gain of the mapping from the exogenous input to the controlled output is less than or equal to a prescribed number g. It is shown that a state feedback control law can be found from a smooth solution of a “scaled” Hamilton-Jacobi-Isaacs inequality