Abstract


Methods to synthesize controllers for nonlinear systems are developed by exploiting the fact that under mild differentiability conditions, systems of the form:

x = f (x) + G(x)u
can be represented in quasilinear form, viz:
x = A(x)x + B(x)u
Two classes of control methods are investigated:
¢ zero-look-ahead control, where the control input depends only on the current val¬ues of A(x), B{x). For this case the control input is computed by continuously solving a matrix Ricatti equation as the system progresses along ....etc

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