A novel robust control technique for discrete time nonlinear systems with random actuator failures is proposed in this paper. This controller is optimally robust for actuator failures in achieving general performance criteria ranging from quadratic optimality with inherent asymptotic stability property to various forms of quadratic dissipative type of disturbance reduction. By solving a state dependent linear matrix inequality at each time instant, the control solution is found which satisfies these general performance criteria. The effectiveness of the proposed technique is demonstrated by simulations of the control of the inverted pendulum on a cart.

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