H/sub ∞/ tracking control for a class of nonlinear systems

Develops the theory for tracking control using the nonlinear H/sub /spl infin// control design methodology for a class of nonlinear input affine systems. The authors use a two-step process of first designing the feedforward part of the controller to design for perfect trajectory following and then design the feedback part of the controller using nonlinear H/sub /spl infin// regulator theory. Results for infinite-time and finite-time horizons are presented.