Title :
Control of nonlinear chained systems: from the Routh-Hurwitz stability criterion to time-varying exponential stabilizers
Author :
Morin, P. ; Samson, C.
Author_Institution :
INRIA, Sophia-Antipolis, France
fDate :
1/1/2000 12:00:00 AM
Abstract :
We show how any linear feedback that stabilizes the origin of a linear chain of integrators induces a simple, continuous time-varying feedback that exponentially stabilizes the origin of a nonlinear chained-form system. The design method is related to a method developed by M´Closkey and Murray (1997) to transform smooth feedback yielding slow polynomial convergence into continuous homogeneous ones that give exponential convergence
Keywords :
asymptotic stability; control system synthesis; convergence; nonlinear control systems; stability criteria; time-varying systems; Routh-Hurwitz stability criterion; continuous time-varying feedback; exponential stability; linear feedback; nonlinear chained systems; slow polynomial convergence; smooth feedback; time-varying exponential stabilizers; Automatic control; Control systems; Convergence; Feedback; Mechanical systems; Nonlinear control systems; Polynomials; Stability criteria; System identification; Time varying systems;
Journal_Title :
Automatic Control, IEEE Transactions on
