Title :
Local robust performance analysis for nonlinear dynamical systems
Author :
Topcu, Ufuk ; Packard, Andrew
Author_Institution :
Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Abstract :
We propose a computational method for local robust performance analysis of nonlinear systems with polynomial dynamics. Specifically, we characterize upper bounds for local L 2 rarr L 2 input-output gains using polynomial Lyapunov/ storage functions satisfying certain dissipation inequalities and compute safe approximations for these upper bounds via sum-of-squares programming problems. We consider both bounded parametric uncertainties and bounded uncertainties due to unmodeled dynamics.
Keywords :
Lyapunov methods; nonlinear dynamical systems; polynomial approximation; robust control; uncertain systems; bounded parametric uncertainty; local robust performance analysis; nonlinear dynamical system; polynomial Lyapunov function; polynomial dynamics; polynomial storage function; sum-of-squares programming; upper bound approximation; Control systems; Functional programming; Nonlinear dynamical systems; Nonlinear systems; Performance analysis; Polynomials; Robust control; Robustness; Uncertainty; Upper bound;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160727
