“…Among them, the H ∞ controller is not only known in attenuating the effects of matched and unmatched disturbances, but it also is capable to attenuate the impacts of model uncertainties (Acho, Orlov, & Solis, 2001;Erol & Delibaşı, 2018;Orlov & Aguilar, 2014;van der Schaft, 2001). While, general solutions have been presented for H ∞ controllers (Gholami & Binazadeh, 2019a, 2019bLi & Liao, 2018;Orlov & Aguilar, 2014;van der Schaft, 2001), the major drawback is the difficulty of solving HJI inequalities where in the design procedure leads to an infinite dimension problem (Krstic & Deng, 1998;Subbotin, 1995). This fact causes local solutions for CONTACT T. Binazadeh binazadeh@sutech.ac.ir many problems (Orlov & Aguilar, 2004).…”