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Model-Based Galerkin Lifting with Exact LTI Decomposition for Guaranteed $\mathcal{H}_\infty$ Output Feedback Control of Nonlinear Systems
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-dimensional realization preserves the actuator dynamics and the constant input matrix. We retain finite-order nonclosure
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