Abstract
This paper extends the H/sub /spl infin// balanced truncation approach of Mustafa and Glover (1991) for linear plants to input affine nonlinear plants. Nonlinear H/sub /spl infin// balanced truncation is used to obtain a reduced order controller. Conditions which ensure that this controller stabilizes the full order plant are derived. In addition an upper bound on the performance of the closed loop system, with respect to the L/sub 2/ gain, is obtained.
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