DocumentCode
1310427
Title
Control of nonlinear chained systems: from the Routh-Hurwitz stability criterion to time-varying exponential stabilizers
Author
Morin, P. ; Samson, C.
Author_Institution
INRIA, Sophia-Antipolis, France
Volume
45
Issue
1
fYear
2000
fDate
1/1/2000 12:00:00 AM
Firstpage
141
Lastpage
146
Abstract
We show how any linear feedback that stabilizes the origin of a linear chain of integrators induces a simple, continuous time-varying feedback that exponentially stabilizes the origin of a nonlinear chained-form system. The design method is related to a method developed by M´Closkey and Murray (1997) to transform smooth feedback yielding slow polynomial convergence into continuous homogeneous ones that give exponential convergence
Keywords
asymptotic stability; control system synthesis; convergence; nonlinear control systems; stability criteria; time-varying systems; Routh-Hurwitz stability criterion; continuous time-varying feedback; exponential stability; linear feedback; nonlinear chained systems; slow polynomial convergence; smooth feedback; time-varying exponential stabilizers; Automatic control; Control systems; Convergence; Feedback; Mechanical systems; Nonlinear control systems; Polynomials; Stability criteria; System identification; Time varying systems;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.827372
Filename
827372
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