A receding-horizon approach to the nonlinear H-infinity control problem

The receding–horizon (RH) methodology is extended to the design of a robust controller of H8 type for nonlinear systems. Using the nonlinear analogue of the Fake H8 algebraic Riccati equation, we derive an inverse optimality result for the RH schemes for which increasing the horizon causes a decrease of the optimal cost function. This inverse optimality result shows that the input–output map of the closed-loop system obtained with the RH control law has a bounded L2-gain. Robustness properties of the nonlinear H8 control law in face of dynamic input uncertainty are considered.