Pitfalls of Guaranteeing Asymptotic Stability in LPV Control of Nonlinear Systems

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Recently, a number of counter examples have surfaced where Linear Parameter-Varying (LPV) control synthesis applied to achieve asymptotic output tracking and disturbance rejection for a nonlinear system, fails to achieve the desired asymptotic tracking and rejection behavior even when the scheduling variations remain in the bounded region considered during design. It has been observed that the controlled system may exhibit an oscillatory motion around the equilibrium point in the presence of a bounded constant input disturbance even if integral action is present. This work aims at investigating how and why the baseline Lyapunov stability notion, currently widely used in the LPV framework, fails to guarantee the desired system behavior. Specifically, it is shown why the quadratic Lyapunov concept is insufficient to always guarantee asymptotic stability under reference tracking and disturbance rejection scenarios, and why an equilibrium independent stability notion is required for LPV stability analysis and synthesis of controllers. The introduced concepts and the apparent pitfalls are demonstrated via a simulation example.
Originele taal-2Engels
TitelEuropean Control Conference (ECC 20), Saint Petersburg
UitgeverijIFAC
StatusGeaccepteerd/In druk - 28 apr 2020
EvenementEuropean Control Conference (ECC 20)
- Petersburg, Rusland
Duur: 12 mei 202015 mei 2020
https://ecc20.eu/

Publicatie series

NaamIFAC-PapersOnLine
UitgeverijElsevier
ISSN van geprinte versie2405-8963

Congres

CongresEuropean Control Conference (ECC 20)
Verkorte titelECC2020
LandRusland
StadPetersburg
Periode12/05/2015/05/20
Internet adres

Trefwoorden

  • eess.SY
  • cs.SY

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  • Citeer dit

    Koelewijn, P. J. W., Mazzoccante, G. S., Tóth, R., & Weiland, S. (Geaccepteerd/In druk). Pitfalls of Guaranteeing Asymptotic Stability in LPV Control of Nonlinear Systems. In European Control Conference (ECC 20), Saint Petersburg (IFAC-PapersOnLine). IFAC.