Title :
Synthesis of dynamic controllers for a class of nonlinear systems: An application to a ball-on-wheel system
Author :
Matsuda, Yoshitaka ; Ohse, Nagato
Author_Institution :
Div. of Inf. & Production Sci., Kyoto Inst. of Technol.
Abstract :
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
Keywords :
ball bearings; control system synthesis; iterative methods; linear matrix inequalities; modelling; nonlinear systems; ball-on-wheel system; bilinear matrix inequality; dynamic controller synthesis; iterative linear matrix inequality; nonlinear plant mathematical model; nonlinear system; sector-bounded nonlinearity; system analysis condition; Control system synthesis; Control systems; Hydrogen; Iterative algorithms; Linear matrix inequalities; Mathematical model; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Output feedback;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776791
