On a Computational Algorithm to the HJE in Nnlinear H∞ Control

Authors

Shr-Shiung Hu, Engineering Officer, The 202nd Arsenal, C.S.F., P. O. Box 90582-22, Nankang, Taipei 115, Taiwan, R.O.C.
Pao-Hwa Yang, Assistant Professor, Department of Mechanical Engineering, Hsiuping Institute of Technology, Dah-Li City, Taichung County 412, Taiwan, R.O.C.
Jeng-Yih Juang, Professor, Department of Merchant Marine, National Taiwan Ocean University, Keelung 202, Taiwan, R.O.C.

Abstract

The Hamilton-Jacobi equation (HJE) plays an essential role in both classical mechanics and nonlinear H∞ control theory. In this paper, we propose a detailed successive algorithm for finding an approximate solution of the HJE by solving linear equations. A scalar example is given to compare the computational procedures and the accuracy for the proposed approach with some other methods. In addition, the nonlinear H∞ controller design for the inverted pendulum is also included to show the superiority of the nonlinear H∞ controller, as compared with the linear H∞ controller, in the aspect of the robust performance/stability.

Recommended Citation

Hu, Shr-Shiung; Yang, Pao-Hwa; and Juang, Jeng-Yih (2001) "On a Computational Algorithm to the HJE in Nnlinear H∞ Control," Journal of Marine Science and Technology: Vol. 9: Iss. 2, Article 4.
DOI: 10.51400/2709-6998.2439
Available at: https://jmstt.ntou.edu.tw/journal/vol9/iss2/4