We propose a novel algorithm to synthesize an H∞-optimal observer-based controller for a nonlinear multivariable system. Based on the parametrization of the observer-based controller, a necessary and sufficient condition to achieve robust stability is developed. Moreover, the Nevanlinna-Pick interpolation theory is employed to test the solvability condition of the robust stabilization problem. Optimal robustness can be achieved via the technique of H∞-optimization. The exact solution of the model-matching problem induced by the stability criterion is solved by the method of noniterative computation of the H∞-norm.
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