This paper considers robust H∞control of a class of nonlinear systems that can be represented by a heterogeneous model. A new controller design method using both-state feedback is proposed based on quadratic stability theory. A number of necessary and sufficient conditions are derived for quadratic stabilizability with disturbance attenuation of the control system concerned. An example is also given to demonstrate the performance of the proposed controller design methods. Copyright © 1996 Elsevier Science Ltd.
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