The H-infinity control problem for discrete-time nonlinear
systems with bounded controllers is considered. Applying the receding horizon method
for a game problem, a state feedback control law is proposed which imposes a prescribed
level of disturbance attenuation with internal stability in a larger domain of the
state space than by other methods existing in the literature. Under some further conditions
a global solution for the problem is also given. The proposed method cannot only be
applied to cases amenable to solution by other methods but also to cases for which
the linearisation technique does not work. The application of the method is illustrated
by an example.
