Singular perturbations of systems controlled by energy-speed-gradient method

Author

Fradkov, Alexander ; Andrievsky, Boris

Author_Institution

Inst. for Problems of Mech. Eng., Acad. of Sci., St. Petersburg, Russia

Volume

4

fYear

2004

fDate

14-17 Dec. 2004

Firstpage

3441

Abstract

Existing results on partial stability of differential form of speed-gradient control for singularly perturbed systems are extended to the case of speed-gradient control in finite form. The results are illustrated by example of energy and synchronization control of two coupled pendulums, taking into account inertia of the motor. It is shown that the perturbations stemming from inertia of the coupling link and the perturbations stemming from inertia of the motor provide different influence upon the perturbed system behavior.

Keywords

inertial systems; nonlinear control systems; pendulums; power control; singularly perturbed systems; coupled pendulums; differential form; energy-speed-gradient method; finite form; motor inertia; partial stability; perturbed system behavior; singular perturbations; singularly perturbed systems; speed-gradient control; Adaptive control; Control systems; Couplings; Electric variables control; Lyapunov method; Mechanical variables control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2004. CDC. 43rd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-8682-5

Type

conf

DOI

10.1109/CDC.2004.1429241

Filename

1429241