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H-infinity Analysis of
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Control of Limit Cycles in Nonlinear
Systems

*H. Michalska, M. Buehler*
This new project is concerned with the design of feedback laws which
make the closed loop system have a globally attractive limit cycle of a
prespecified size. The solution of this theoretical problem finds many
applications. Feedback control of a hopping mobile robot is one example.
The control objective is to stabilize the hopping height of the robot to
a reference value. The project is carried out in collaboration with the
experimental laboratory of Professor Martin Buehler.

*Annual Report*

*Fri Nov 26 23:00:32 GMT 1999*