A Sum of Squares-Based Approach to Robust Nonlinear Mixed H₂/H_∞ Output-Feedback Control for a Class of Uncertain Polynomial Systems

Table 2

RMSE in Figure 2.

State variables	RMSE using proposed H2/H∞ control	RMSE using traditional H∞ control
,	0.0112	0.1851
,	0.0263	0.2151