DocumentCode :
1271156
Title :
Invariance control for a class of cascade nonlinear systems
Author :
Mareczek, Jorg ; Buss, Martin ; Spong, Mark W.
Author_Institution :
Diehl GmbH Co. KG, Pegnitz, Germany
Volume :
47
Issue :
4
fYear :
2002
fDate :
4/1/2002 12:00:00 AM
Firstpage :
636
Lastpage :
640
Abstract :
We consider the control of partially linear cascade systems using switching control of the states of the linear subsystem. We give sufficient conditions under which feedback of the linear states with switching gains guarantees both exponential stability of the linear subsystem and positive invariance of a prespecified region in state space. We refer to a control scheme incorporating these two objectives as invariance control. Semiglobal asymptotic stabilization follows under some additional conditions. The key idea of our design is to keep a given state space region positively invariant by switching on the boundary of the region. Thus, the transient response of the system can be kept within prescribed bounds which is important in many practical applications. Our approach can also be viewed as an alternative to high gain designs. The results in this paper can be extended to nonlinear cascades and even to noncascaded systems
Keywords :
asymptotic stability; feedback; nonlinear control systems; optimisation; state-space methods; transient response; cascade nonlinear systems; exponential stability; invariance control; linear subsystem; partially linear cascade systems; semiglobal asymptotic stabilization; state space region; sufficient conditions; switching control; switching gains; transient response; Algorithm design and analysis; Automatic control; Control systems; Nonlinear control systems; Nonlinear systems; Optimal control; Polynomials; Robust control; Robust stability; Uncertainty;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/9.995041
Filename :
995041
Link To Document :
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