Robust H ∞ Control for the Nonlinear Cascade Systems with Passive and Nonpassive Subsystems

Abstract

In this paper, $H_{\infty }$ control for the uncertain switched nonlinear cascade systems with passive and nonpassive subsystems is investigated. Based on the average dwell time method, for any given passivity rate, average dwell time, and disturbance attenuation level, the feedback controllers of the subsystems by predetermined constants are designed to solve the exponential stability and $L_2$ -gain problems of $H_{\infty }$ control for switched nonlinear cascade systems. Two examples are provided to demonstrate the effectiveness of the proposed design method.