Local robust performance analysis for nonlinear dynamical systems

Author

Topcu, Ufuk ; Packard, Andrew

Author_Institution

Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA

fYear

2009

fDate

10-12 June 2009

Firstpage

784

Lastpage

789

Abstract

We propose a computational method for local robust performance analysis of nonlinear systems with polynomial dynamics. Specifically, we characterize upper bounds for local L ₂ rarr L ₂ input-output gains using polynomial Lyapunov/ storage functions satisfying certain dissipation inequalities and compute safe approximations for these upper bounds via sum-of-squares programming problems. We consider both bounded parametric uncertainties and bounded uncertainties due to unmodeled dynamics.

Keywords

Lyapunov methods; nonlinear dynamical systems; polynomial approximation; robust control; uncertain systems; bounded parametric uncertainty; local robust performance analysis; nonlinear dynamical system; polynomial Lyapunov function; polynomial dynamics; polynomial storage function; sum-of-squares programming; upper bound approximation; Control systems; Functional programming; Nonlinear dynamical systems; Nonlinear systems; Performance analysis; Polynomials; Robust control; Robustness; Uncertainty; Upper bound;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2009. ACC '09.

Conference_Location

St. Louis, MO

ISSN

0743-1619

Print_ISBN

978-1-4244-4523-3

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2009.5160727

Filename

5160727