Bode-like fundamental performance limitations in control of nonlinear systems

Research output: Contribution to journalArticlepeer-review


This paper is concerned with entropy based fundamental limitation results for the nonlinear disturbance rejection problem. We propose a hidden Markov model (HMM) framework for entropy calculations. We obtain explicit entropy bounds for both the classical Bode problem (with linear dynamics) as well as certain cases of nonlinear dynamics. An important message of this paper is that the limitations arise due to fundamental issues pertaining to estimation as opposed to the stabilization control problem.

Original languageEnglish (US)
Article number5406123
Pages (from-to)1390-1405
Number of pages16
JournalIEEE Transactions on Automatic Control
Issue number6
StatePublished - Jun 2010


  • Bode formula
  • Nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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