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Extension of local linear controllers to global piecewise affine controllers for uncertain non-linear systems

Title:

Extension of local linear controllers to global piecewise affine controllers for uncertain non-linear systems

Samadi, Behzad and Rodrigues, Luis (2008) Extension of local linear controllers to global piecewise affine controllers for uncertain non-linear systems. International Journal of Systems Science, 39 (9). pp. 867-879. ISSN 0020-7721

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Official URL: http://dx.doi.org/10.1080/00207720802184683

Abstract

A two-step controller synthesis method is proposed in this article for a class of uncertain non-linear systems described by piecewise affine differential inclusions. In the first step, a robust linear controller is designed for the linear differential inclusion that describes the dynamics of the non-linear system close to the equilibrium point. In the second step, a stabilising piecewise affine controller is designed that coincides with the linear controller in a region around the equilibrium point. The proposed method has two objectives: global stability and local performance. It thus enables us to use well-known techniques in linear control design for local stability and performance while delivering a global piecewise affine controller that is guaranteed to stabilise the non-linear system. To construct the required theoretical framework, a stability theorem for non-smooth Lyapunov functions is presented and proved. The new method will be applied to two examples.

Divisions:Concordia University > Faculty of Engineering and Computer Science > Mechanical and Industrial Engineering
Item Type:Article
Refereed:Yes
Authors:Samadi, Behzad and Rodrigues, Luis
Journal or Publication:International Journal of Systems Science
Date:2008
ID Code:974872
Deposited By:ANDREA MURRAY
Deposited On:04 Oct 2012 15:38
Last Modified:04 Oct 2012 15:38
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