Abstract
In this paper, we present a global solution to a nonlinear H-infinity optimal control problem for control-affine systems with an associated potential function. We also give a closed-form expression for an optimal controller and demonstrate its potential for sparsity. This paper thus advances a recent result which considers the same problem restricted to systems with symmetric state matrix and nonlinear input matrix. We further apply the main result to obtain a simpler and more intuitive statement for a class of systems capable of modeling nonlinear buffer networks.
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