Title :
Robust control with adjustable parameters based on LQ optimal control for a class of uncertain nonlinear systems
Author_Institution :
Inst. of Technol. & Sci., Univ. of Tokushima, Tokushima, Japan
Abstract :
This paper deals with a design problem of a robust controller with adjustable parameters for a class of uncertain nonlinear systems. The proposed robust controller is composed of a state feedback with a LQ optimal gain matrix derived by using the nominal system and adjustable parameters. In this paper, we show that sufficient conditions for the existence of the proposed robust controller are given in terms of LMIs. Finally, numerical examples are presented.
Keywords :
control system synthesis; linear matrix inequalities; linear quadratic control; nonlinear control systems; robust control; state feedback; uncertain systems; LMI; LQ optimal control; LQ optimal gain matrix; nominal system; robust controller design problem; state feedback; sufficient conditions; uncertain nonlinear systems; Closed loop systems; Linear systems; Nonlinear systems; Riccati equations; Robustness; Symmetric matrices; Vectors;
Conference_Titel :
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4799-3978-7
DOI :
10.1109/ICMA.2014.6885746
