Generalized state scaling-based robust control of nonlinear systems and applications to triangular systems

P. Krishnamurthy, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a high-gain scaling based controller to achieve global state-feedback stabilization of a general class of nonlinear systems which are allowed to contain uncertain functions of all the states and the control input as long as polynomial bounds on ratios of some uncertain system terms are available. The design is based on a high-gain scaling involving appropriate powers of a high-gain scaling parameter which is a dynamic signal driven by the state. The designed controller has a very simple structure being essentially a dynamic extension and a linear feedback with state-dependent dynamic gains. The obtained results are applicable to both lower triangular (strict-feedback) and upper triangular (feedforward) structures and also to systems without any triangular structure as long as a set of inequalities involving powers of the polynomial bounds on the ratios of the uncertain system terms and scaling orders is solvable. The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov equations.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages3427-3432
Number of pages6
Volume5
StatePublished - 2005
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005

Other

Other2005 American Control Conference, ACC
CountryUnited States
CityPortland, OR
Period6/8/056/10/05

Fingerprint

Robust control
Nonlinear systems
Uncertain systems
Polynomials
Feedback
Controllers
State feedback
Stabilization

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Krishnamurthy, P., & Khorrami, F. (2005). Generalized state scaling-based robust control of nonlinear systems and applications to triangular systems. In Proceedings of the American Control Conference (Vol. 5, pp. 3427-3432). [FrA01.4]

Generalized state scaling-based robust control of nonlinear systems and applications to triangular systems. / Krishnamurthy, P.; Khorrami, Farshad.

Proceedings of the American Control Conference. Vol. 5 2005. p. 3427-3432 FrA01.4.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Krishnamurthy, P & Khorrami, F 2005, Generalized state scaling-based robust control of nonlinear systems and applications to triangular systems. in Proceedings of the American Control Conference. vol. 5, FrA01.4, pp. 3427-3432, 2005 American Control Conference, ACC, Portland, OR, United States, 6/8/05.
Krishnamurthy P, Khorrami F. Generalized state scaling-based robust control of nonlinear systems and applications to triangular systems. In Proceedings of the American Control Conference. Vol. 5. 2005. p. 3427-3432. FrA01.4
Krishnamurthy, P. ; Khorrami, Farshad. / Generalized state scaling-based robust control of nonlinear systems and applications to triangular systems. Proceedings of the American Control Conference. Vol. 5 2005. pp. 3427-3432
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