Synthesis of dynamic controllers for a class of nonlinear systems: An application to a ball-on-wheel system

This paper deals with a synthesis of dynamic controllers for a class of nonlinear systems. First, mathematical model of nonlinear plant with sector-bounded nonlinearity is given. Secondly, the analysis condition for systems with sector-bounded nonlinearity is introduced, and based on this condition, the synthesis problem is formulated as a bilinear matrix inequality one. Since it is difficult to solve the problem directly, this paper proposes an iterative linear matrix inequality algorithm to synthesize a controller so as to expand the region of sector and minimize L2-gain. Finally, the proposed synthesis method is utilized for designing a dynamic controller for a ball-on-wheel system to illustrate the effectiveness