The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and $mathcal{L}_{2}$ disturbance attenuation. Conditions are provided which solve the inverse optimal nonlinear $H_{infty}$ control problem by minimizing a meaningful cost function. The approach guarantees that the energy gain from an exogenous disturbance to a specified error signal respects a given upper bound. For numerical simulations, a simple problem setup from literature is considered and results demonstrate competitive performance.
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