Robust stability and nonlinear loop-shaping design for hybrid integrator-gain-based control systems

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

In this paper, the use of quasi-linear tools for the closed-loop design and analysis of Hybrid Integrator-Gain Systems (HIGS) is considered. A nonlinear motion control design procedure is proposed in which quasi-linear loop-shaping methods, based on describing functions, are combined with rigorous conditions for closed-loop stability. The latter are established by means of multiple piecewise quadratic Lyapunov functions. Admissible functions are found by solving a set of numerically tractable linear matrix inequalities (LMIs). The potential of the robust design method is illustrated by simulation results of a two-mass-spring-damper system.

LanguageEnglish
Title of host publication2019 American Control Conference, ACC 2019
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages3063-3068
Number of pages6
ISBN (Electronic)978-1-5386-7926-5
StatePublished - 1 Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: 10 Jul 201912 Jul 2019
http://acc2019.a2c2.org

Conference

Conference2019 American Control Conference, ACC 2019
Abbreviated titleACC2019
CountryUnited States
CityPhiladelphia
Period10/07/1912/07/19
Internet address

Fingerprint

Control systems
Describing functions
Motion control
Lyapunov functions
Linear matrix inequalities
Robust stability

Cite this

van den Eijnden, S. J. A. M., Heertjes, M. F., & Nijmeijer, H. (2019). Robust stability and nonlinear loop-shaping design for hybrid integrator-gain-based control systems. In 2019 American Control Conference, ACC 2019 (pp. 3063-3068). [8814888] Piscataway: Institute of Electrical and Electronics Engineers.
van den Eijnden, S.J.A.M. ; Heertjes, M.F. ; Nijmeijer, H./ Robust stability and nonlinear loop-shaping design for hybrid integrator-gain-based control systems. 2019 American Control Conference, ACC 2019. Piscataway : Institute of Electrical and Electronics Engineers, 2019. pp. 3063-3068
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abstract = "In this paper, the use of quasi-linear tools for the closed-loop design and analysis of Hybrid Integrator-Gain Systems (HIGS) is considered. A nonlinear motion control design procedure is proposed in which quasi-linear loop-shaping methods, based on describing functions, are combined with rigorous conditions for closed-loop stability. The latter are established by means of multiple piecewise quadratic Lyapunov functions. Admissible functions are found by solving a set of numerically tractable linear matrix inequalities (LMIs). The potential of the robust design method is illustrated by simulation results of a two-mass-spring-damper system.",
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van den Eijnden, SJAM, Heertjes, MF & Nijmeijer, H 2019, Robust stability and nonlinear loop-shaping design for hybrid integrator-gain-based control systems. in 2019 American Control Conference, ACC 2019., 8814888, Institute of Electrical and Electronics Engineers, Piscataway, pp. 3063-3068, 2019 American Control Conference, ACC 2019, Philadelphia, United States, 10/07/19.

Robust stability and nonlinear loop-shaping design for hybrid integrator-gain-based control systems. / van den Eijnden, S.J.A.M.; Heertjes, M.F.; Nijmeijer, H.

2019 American Control Conference, ACC 2019. Piscataway : Institute of Electrical and Electronics Engineers, 2019. p. 3063-3068 8814888.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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N2 - In this paper, the use of quasi-linear tools for the closed-loop design and analysis of Hybrid Integrator-Gain Systems (HIGS) is considered. A nonlinear motion control design procedure is proposed in which quasi-linear loop-shaping methods, based on describing functions, are combined with rigorous conditions for closed-loop stability. The latter are established by means of multiple piecewise quadratic Lyapunov functions. Admissible functions are found by solving a set of numerically tractable linear matrix inequalities (LMIs). The potential of the robust design method is illustrated by simulation results of a two-mass-spring-damper system.

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van den Eijnden SJAM, Heertjes MF, Nijmeijer H. Robust stability and nonlinear loop-shaping design for hybrid integrator-gain-based control systems. In 2019 American Control Conference, ACC 2019. Piscataway: Institute of Electrical and Electronics Engineers. 2019. p. 3063-3068. 8814888.