Abstract
A new nonlinear control law for a class of nonlinear systems with disturbance is proposed. A control law is designed by transforming control Lyapunov function (CLF) to input-to-state stability control Lyapunov function (ISS-CLF). The transformed CLF satisfies a Hamilton-Jacobi-Isaacs (HJI) equation. The feedback system by the proposed control law has characteristics ofL2gain. Finally, it is shown by a numerical example that the proposed control law makes a controller by feedback linearization robust against disturbance.
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