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 language | English |
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Title of host publication | 19th Mediterranean Conference on Control and Automation (MED), 20-23 June 2011, Corfu Greece |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 213-218 |
DOIs | |
Publication status | Published - 2011 |
Event | conference; Mediterranean Conference on Control and Automation; 2011-06-20; 2011-06-23 - Duration: 20 Jun 2011 → 23 Jun 2011 |
Conference
Conference | conference; Mediterranean Conference on Control and Automation; 2011-06-20; 2011-06-23 |
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Period | 20/06/11 → 23/06/11 |
Other | Mediterranean Conference on Control and Automation |