Title :
Nonlinear controllers for nonlinear passive systems with arbitrary input nonlinearities
Author :
Haddad, Wassim M. ; Chellaboina, VijaySekhar
Author_Institution :
Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
A nonlinear dynamic compensator framework for nonlinear passive systems with arbitrary input nonlinearities is proposed. For this class of systems we prove global closed-loop stability by modifying the dynamic compensator to include a suitable input nonlinearity. The proof of this result is based on dissipativity theory and shows that the nonlinear controller modification counteracts the effects of the input nonlinearity by recovering the passivity of the plant and the compensator
Keywords :
closed loop systems; compensation; control nonlinearities; discrete time systems; feedback; nonlinear dynamical systems; stability; closed-loop systems; compensation; discrete time systems; dissipativity theory; input nonlinearity; nonlinear dynamical systems; nonlinear passive systems; stability; Aerodynamics; Aerospace engineering; Control nonlinearities; Control systems; Feedback; Hydraulic actuators; Linear systems; Nonlinear control systems; Nonlinear dynamical systems; Stability;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.877002
