This thesis deals with controller design for discrete-time linear systems using control Lyapunov function (CLF) technique. Since a single control Lyapunov function is usually designed for one specific goal only, this thesis proposes a method to combine different CLFs in order to achieve multiple goals with one controller. A smooth transient from one CLF to another is obtained by interpolation technique. The contractivity-sharing property of two CLFs is introduced and it is shown how to use this property for reducing the computational load. An algorithm is proposed to verify the contractivity-sharing property of two CLFs. Simulations and real-time experiments are performed to demonstrate the performance of the designed controllers.
Date of Award | 31 Aug 2013 |
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Original language | English |
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Supervisor | Mircea Lazar (Supervisor 1) |
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Control design for constrained discrete-time linear systems using interpolation of control Lyapunov functions
Nguyen, T. T. (Author). 31 Aug 2013
Student thesis: Master