Simultaneous H ∞ Control for a Collection of Nonlinear Systems in Strict-Feedback Form

Based on the control storage function approach, a constructive method for designing simultaneous H∞ controllers for a collection of nonlinear control systems in strictfeedback form is developed. It is shown that under mild assumptions, common control storage functions (CSFs) for nonlinear systems in strict-feedback form can be constructed systematically. Based on the obtained common CSFs, an explicit formula for constructing simultaneous H∞ controllers is presented. Finally, an illustrative example is provided to verify the obtained theoretical results.