Abstract
This paper deals with μ synthesis for nonlinear robust control systems based on I/O linearization. By nonlinear state feedback, nonlinear systems can be linearized as controllable linear systems, such that uncertain nonlinear systems can be expressed as linear fractional transformations (LFTs) on the generalized linearized plants and uncertainty By H ∞ optimization based μ synthesis technique, controllers can be obtained for the LFTs. Then the nonlinear robust control laws can be constructed by combining the controllers and the nonlinear state feedback. An example is given to illustrate the design.
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