Design of Robust H~∞Controller for a Class of Nonlinear Uncertain System

Robust H ∞ controller via state feedback as well as via output feedback for a class of nonlinear systems with uncertainty is discussed by means of two player,zero sum,differential game The sufficient conditions of the solution existence for the H ∞ control problems of such case of uncertain nonlinear systems are presented It is proved that all the controllers proposed in this paper can make the closed loop systems with uncertainty achieve disturbance attenuation with internal stability