Coupled State-Dependent Riccati Equation Control for Continuous Time Nonlinear Mechatronics Systems

This manuscript considers the coupled state-dependent Riccati equation approach for systematically designing nonlinear quadratic regulator and H-infinity control of mechatronics systems. The state-dependent feedback control solutions can be obtained by solving a pair of coupled state-dependent Riccati equations, guaranteeing nonlinear quadratic optimality with inherent stability property in combination with robust L-2 type of disturbance reduction. The derivation of this control strategy is based on Nash's game theory. Both of finite and infinite horizon control problems are discussed. An under-actuated robotic system, Furuta rotary pendulum, is used to examine the effectiveness and robustness of this novel nonlinear control approach.