Optimal H-infinity Integral Dynamic State Feedback Model Reference Controller Design for Nonlinear Systems

In this work, a new optimal and robust controller is proposed for nonlinear systems by combining the H-infinity control approach with the model reference control technique. It is carried out with the aid of integral dynamic state feedback control to achieve an adequate transient response by incorporating a reference model. The black hole optimization is used as a novel and efficient optimization algorithm to optimize the design approach. In addition, the proposed controller gain matrix is calculated by solving the H-infinity algebraic Riccati equation. Moreover, the stability properties of the controlled system are demonstrated using Lyapunov stability analysis. Two types of nonlinear systems are used as case studies to show the effectiveness of the proposed controller. Finally, the simulation results confirm that the proposed controller is very effective in enhancing the stability and performance of the nonlinear systems by compensating them and forcing their states to track the reference model states asymptotically with an acceptable and workable control action.