Piecewise affine observer-based robust controllers for constrained nonlinear systems

Author

Imsland, Lars ; Slupphaug, Olav ; Foss, Bjarne A.

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway

fYear

2001

fDate

4-7 Sept. 2001

Firstpage

1876

Lastpage

1881

Abstract

For a general class of constrained uncertain nonlinear discrete-time systems, and a general class of observers, it is developed bilinear matrix inequalities whose solution gives gain matrices used in a piecewise affine observer/controller structure. The closed-loop system is robustly quadratically stable with a region of attraction larger than a prescribed ellipsoidal region. It is also developed a second-order algorithm for solving these inequalities locally.

Keywords

closed loop systems; discrete time systems; linear matrix inequalities; nonlinear control systems; observers; robust control; uncertain systems; bilinear matrix inequalities; closed-loop system; constrained uncertain nonlinear discrete-time systems; ellipsoidal region; gain matrices; piecewise affine observer-based robust controllers; piecewise affine observer-controller structure; robust quadratic stability; second-order algorithm; Approximation methods; Linear matrix inequalities; Nonlinear systems; Observers; Output feedback; Stability analysis; State feedback; bilinear matrix inequalities; constrained systems; observer design; output feedback; robust nonlinear control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2001 European

Conference_Location

Porto

Print_ISBN

978-3-9524173-6-2

Type

conf

Filename

7076195