Title :
Switching-Driving Lyapunov Function and the Stabilization of the Ball-and-Plate System
Author :
Casagrande, Daniele ; Astolfi, Alessandro ; Parisini, Thomas
Author_Institution :
Dipt. di Ing. Elettr., Gestionale e Meccanica, Univ. degli Studi di Udine, Udine, Italy
Abstract :
This note introduces the notion of switching-driving Lyapunov function which can be used to provide a sufficient stabilizability condition for general nonlinear systems. The theory is illustrated by means of the ldquoball-and-platerdquo system, for which locally stabilizing control laws are explicitly derived.
Keywords :
Lyapunov methods; nonlinear control systems; time-varying systems; ball-and-plate system stabilization; nonlinear systems; switching-driving Lyapunov function; Automata; Control systems; Feedback control; Lyapunov method; Mechanical systems; Nonlinear control systems; Nonlinear systems; Stability; Switched systems; Ball-and-plate system;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2009.2020670
