Constructive Nonlinear Control by R. Sepulchre

By R. Sepulchre

Optimistic Nonlinear regulate provides a large repertoire of optimistic nonlinear designs no longer to be had in different works via widening the category of platforms and layout instruments. numerous streams of nonlinear keep an eye on conception are merged and directed in the direction of a optimistic answer of the suggestions stabilization challenge. research, geometric and asymptotic innovations are assembled as layout instruments for a wide selection of nonlinear phenomena and constructions. Geometry serves as a consultant for the development of layout approaches when research offers the robustness which geometry lacks. New recursive designs get rid of prior regulations on suggestions passivation. Recursive Lyapunov designs for suggestions, feedforward and interlaced constructions lead to suggestions platforms with optimality houses and balance margins. The design-oriented procedure will make this paintings a helpful instrument for all those that be interested up to speed thought.

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1) is • bounded, if there exists a constant K(x0 ) such that x(t; x0 ) ≤ K(x0 ), ∀t ≥ 0; • stable, if for each > 0 there exists δ( ) > 0 such that x˜0 − x0 < δ ⇒ x(t; x˜0 ) − x(t; x0 ) < , ∀t ≥ 0; • attractive, if there exists an r(x0 ) > 0 such that x˜0 − x0 < r(x0 ) ⇒ lim x(t; x˜0 ) − x(t; x0 ) = 0; t→∞ • asymptotically stable, if it is stable and attractive; • unstable, if it is not stable. Some solutions of a given system may be stable and some unstable. 1) may have stable and unstable equilibria, that is, constant solutions x(t; xe ) ≡ xe satisfying f (xe ) = 0.

For the feedback interconnection we have S(x(T )) − S(x(0)) ≤ T 0 (uT1 y1 + uT2 y2 ) dt Substituting u2 = y1 and u1 = r − y2 we obtain S(x(T )) − S(x(0)) ≤ T 0 rT y1 dt which proves that the feedback interconnection is passive. ✷ 34 CHAPTER 2. 3: Pre- and post-multiplication by a state-dependent matrix. 3. For a matrix M (x) depending on the state of the system, the new input and output satisfy u = M (x)¯ u and y¯ = M T (x)y. It is not difficult to see that, if H is passive with S(x), then the transformed system is also passive with the same storage function: S(x(T )) − S(x(0)) ≤ T 0 uT y dt = T 0 u¯T M T (x)y dt = T 0 u¯T y¯ dt The passivity property of H remains the same even if the matrix M is a function of the state of the other system in the interconnection.

28, this is a necessary and sufficient condition for local stabilization of the equilibrium (x1 , x2 ) = (0, 0) using the feedback u = −y. ✷ In our stability studies, we will usually deduce stability from the positive definiteness of the storage function and then use the ZSD property to establish asymptotic stability. 28 which allow the storage function to be positive semidefinite. 28 will now be extended to the stability properties of feedback interconnections. 3). Furthermore assume that they are ZSD and that their respective storage functions S1 (x1 ) and S2 (x2 ) are C 1 .

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