Optimal Control Design for Nonlinear Systems with Disturbances

Abstract

This paper considers the optimal control design problem for nonlinear systems with composite disturbances. First, the original system is transformed into an augmented system without disturbances. Then with respect to the quadratic performance indexes of infinite horizon, we design an optimal controller for the augmented plant without disturbances. Thus the disturbances can unfold of the signal through the Taylor series for the form of polynomial function of time, and obtain optimal controller design approach to eliminate the general disturbance. Finally, a practical example is given to illustrate the effectiveness of the theory.