Stabilizing control design of fully linearizable systems via estimated states

Author(s):  
C.J. Munaro ◽  
M.R. Filho ◽  
R.M. Borges ◽  
S. da Silva Munareto ◽  
W. Teixeira da Costa
2013 ◽  
Vol 2013 ◽  
pp. 1-9
Author(s):  
Zhongwei Lin ◽  
Jizhen Liu ◽  
Yuguang Niu

This paper investigates the linearization and stabilizing control design problems for a class of SISO Markovian jump nonlinear systems. According to the proposed relative degree set definition, the system can be transformed into the canonical form through the appropriate coordinate changes followed with the Markovian switchings; that is, the system can be full-state linearized in every jump mode with respect to the relative degree setn,…,n. Then, a stabilizing control is designed through applying the backstepping technique, which guarantees the asymptotic stability of Markovian jump nonlinear systems. A numerical example is presented to illustrate the effectiveness of our results.


2021 ◽  
Vol 59 (1) ◽  
pp. 96
Author(s):  
Ha Ngoc Hoang ◽  
Quyen Phuong Le ◽  
Thuan Chi Nguyen

This work deals with systems whose dynamics are affine in the control input. Such dynamics are considered to be significantly differentially expressed in a canonical form, namely the quadratic (pseudo) port-Hamiltonian representation, in order to explore further some structural properties usable for the tracking-error passivity-based control design. Different kinds of linear and nonlinear engineering systems including an open isothermal homogeneous system and a continuous biochemical fermenter are used to illustrate the approach.


Author(s):  
Jonathan Carlos MayoMaldonado ◽  
Omar Fernando Ruiz Martinez ◽  
Gerardo Escobar ◽  
Jesus Elias Valdez-Resendiz ◽  
Thabiso Maupong ◽  
...  

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Bingtuan Gao ◽  
Fei Ye

Rotational translational actuator (RTAC) system, whose motions occur in horizontal planes, is a benchmark for studying of control techniques. This paper presents dynamical analysis and stabilizing control design for the RTAC system on a slope. Based on Lagrange equations, dynamics of the inclined RTAC system is achieved by selecting cart position and rotor angle as the general coordinates and torque acting on the rotor as general force. The analysis of equilibriums and their controllability yields that controllability of equilibriums depends on inclining direction of the inclined RTAC system. To stabilize the system to its controllable equilibriums, a proper control Lyapunov function including system energy, which is used to show the passivity property of the system, is designed. Consequently, a stabilizing controller is achieved directly based on the second Lyapunov stability theorem. Finally, numerical simulations are performed to verify the correctness and feasibility of our dynamical analysis and control design.


2005 ◽  
Vol 41 (7) ◽  
pp. 564-571 ◽  
Author(s):  
Takashi NAKAKUKI ◽  
Katsutoshi TAMURA ◽  
Tielong SHEN

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