Design of Robust Input-Constrained Feedback Controllers for Nonlinear Systems

This work contributes to the optimal design of closed-loop nonlinear systems with input saturation in the presence of unknown uncertainty. Stability conditions based on contractive constraints were developed for a general class of nonlinear systems under some Lipschitz assumptions. Closed-loop robus...

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Bibliographic Details
Published inIFAC-PapersOnLine Vol. 51; no. 18; pp. 732 - 737
Main Authors Muñoz, Diego A., Marquardt, Wolfgang
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 2018
Subjects
bounded disturbances
input saturation
MIMO
robustness
semi-infinite optimization
transient stability
uncertainty
semi-infinite optimization
input saturation
robustness
transient stability
MIMO
bounded disturbances
uncertainty
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Summary:This work contributes to the optimal design of closed-loop nonlinear systems with input saturation in the presence of unknown uncertainty. Stability conditions based on contractive constraints were developed for a general class of nonlinear systems under some Lipschitz assumptions. Closed-loop robust stability and robustly optimal performance can be guaranteed in the presence of input bounds, if the solution of the design problem, formulated as a nonlinear semi-infinite program (SIP) with differential equation constraints, can be guaranteed to be feasible. In this work, the SIP is solved by means of a local reduction approach, which requires a local representation of the so-called lower level problems associated with the SIP. The suggested design method is illustrated by means of chemical reactor control problem.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2018.09.276