Model-Based Galerkin Lifting with Exact LTI Decomposition for Guaranteed ${\mathcal{H}}_{\infty }$ Output Feedback Control of Nonlinear Systems

Burak Kurkcu, Christopher Phan, Aleksandar Zecevic +1

In this paper, we present a model-based Galerkin framework for output-feedback control of nonlinear systems with known dynamics. With a suitable actuator augmentation, the finite-d…