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SUMMARYTwo H optimization problems of a nonlinear tracking control system: the problem of a nonlinear controller and the problem of a nonlinear plant are considered in the paper. The describing function method is used for linearization of a feedback control system. Theorems, which enable one to replace the optimization of a nonlinear system by the optimization of an approximate linear system are proven in the paper. Methods of H optimization are used to find the structure of an optimal controller of the approximate system.

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