On a state space approach to nonlinear H∞ control

We study the standard H∞ optimal control problem using state feedback for smooth nonlinear control systems. The main theorem obtained roughly states that the L2-induced norm (from disturbances to inputs and outputs) can be made smaller than a constant γ > 0 if the corresponding H∞ norm for the system linearized at the equilibrium can be made smaller than γ by linear state feedback. Necessary and sufficient conditions for the latter problem are by now well-known, e.g. from the state space approach to linear H∞ optimal control. Our approach to the nonlinear H∞ optimal control problem generalizes the state space approach to the linear H∞ problem by replacing the Hamiltonian matrix and corresponding Riccati equation as used in the linear context by a Hamiltonian vector field together with a Hamilton-Jacobi equation corresponding to its stable invariant manifold