Worst-case control for discrete-time uncertain nonlinear systems

An account is given on the development of a state feedback robust control technique for a class of discrete-time nonlinear uncertain systems. It is shown that the problem of robust H_∞ control for the nonlinear uncertain systems can be solved via a Riccati inequality for the corresponding linear uncertain systems. A linear dynamic state feedback controller is designed based on the solution of the Riccati inequality.