This paper presents a systematic approach to the design of a robust dynamic state feedback controller using copies of the plant nonlinearities, which is based on the use of IQCs and minimax LQR control. The approach combines a linear state feedback guaranteed cost controller and copies of the plant nonlinearities to form a robust nonlinear controller.
@article{arxiv.1404.3808,
title = {Robust Dynamic State Feedback Guaranteed Cost Control of Nonlinear Systems using Copies of Plant Nonlinearities},
author = {Obaid Ur Rehman and Ian R. Petersen},
journal= {arXiv preprint arXiv:1404.3808},
year = {2014}
}