Robust L2 control for a class of nonlinear systems: a parameter varying lyapunov function approach

M. Ezzeldin Mahdy Abdelmonem, S. Weiland, P.P.J. Bosch, van den

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Abstract

The problem of robustly stabilizing a class of nonlinear systems by using an L2 state feedback based controller is proposed. A class of nonlinear systems is approximated by a Takagi-Sugeno (T-S) model. A robust stabilization technique is proposed to override the effect of approximation error between the original nonlinear system and the approximated T-S model. A sufficient condition is derived to ensure the robust stability of the L2 state feedback based controller with guaranteed disturbance attenuation level. Unlike the approaches using a single quadratic Lyapunov function, a parameter varying quadratic Lyapunov function is employed in our approach. A transformation is presented to formulate the problem in terms of a linear matrix inequality problem for which efficient optimization techniques are available. A simulation example of an inverted pendulum on a cart illustrates the performance and the validity of the proposed approach.
Original languageEnglish
Title of host publication19th Mediterranean Conference on Control and Automation (MED), 20-23 June 2011, Corfu Greece
PublisherInstitute of Electrical and Electronics Engineers
Pages213-218
DOIs
Publication statusPublished - 2011
Eventconference; Mediterranean Conference on Control and Automation; 2011-06-20; 2011-06-23 -
Duration: 20 Jun 201123 Jun 2011

Conference

Conferenceconference; Mediterranean Conference on Control and Automation; 2011-06-20; 2011-06-23
Period20/06/1123/06/11
OtherMediterranean Conference on Control and Automation

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