Title :
Multi-rate sampled-data stabilization of a class of nonlinear systems
Author :
Giovanni Mattei;Salvatore Monaco;Dorothée Normand-Cyrot
Author_Institution :
Dipartimento di Ingegneria Informatica e Gestionale, DIAG Università
fDate :
7/1/2015 12:00:00 AM
Abstract :
The paper deals with the sampled-data implementation of controllers designed by means of Immersion and Invariance stabilization techniques for a special class of dynamics. A multi-rate digital control law is derived to preserve at the sampling instants manifold attractivity. The immersion condition is guaranteed under sampling and invariance on the manifold is recovered asymptotically by the multi-rate controller, particularly well suited for the class of systems considered. The effectiveness of the proposed digital solution is shown through numerical simulations of an academic example.
Keywords :
"Manifolds","Trajectory","Control design","Nonlinear dynamical systems","Backstepping","Approximation methods"
Conference_Titel :
Control Conference (ECC), 2015 European
DOI :
10.1109/ECC.2015.7330668