Title :
The multivariable circle criterion for switched continuous systems
Author :
Bedillion, Mark ; Messner, William
Author_Institution :
Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
Traditional developments of the multivariable circle criterion have assumed continuity of the nonlinearity. This paper shows that the stability results of the multivariable circle criterion are valid for systems described by differential inclusions. This result is motivated by examining the control of a one-dimensional actuator array system in which the contact state between each actuator and the manipulated object is allowed to switch between slip and no-slip contact. The stability results are verified through simulation.
Keywords :
actuators; control nonlinearities; multivariable control systems; nonlinear control systems; stability criteria; multivariable circle criterion; nonlinear control systems; one dimensional actuator array system; slip contact; stability; switched continuous systems; Actuators; Contacts; Continuous time systems; Control systems; Lyapunov method; Nonlinear systems; Sensor arrays; Stability; Switched systems; Switches;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1272480
