Title :
Singular perturbations of systems controlled by energy-speed-gradient method
Author :
Fradkov, Alexander ; Andrievsky, Boris
Author_Institution :
Inst. for Problems of Mech. Eng., Acad. of Sci., St. Petersburg, Russia
Abstract :
Existing results on partial stability of differential form of speed-gradient control for singularly perturbed systems are extended to the case of speed-gradient control in finite form. The results are illustrated by example of energy and synchronization control of two coupled pendulums, taking into account inertia of the motor. It is shown that the perturbations stemming from inertia of the coupling link and the perturbations stemming from inertia of the motor provide different influence upon the perturbed system behavior.
Keywords :
inertial systems; nonlinear control systems; pendulums; power control; singularly perturbed systems; coupled pendulums; differential form; energy-speed-gradient method; finite form; motor inertia; partial stability; perturbed system behavior; singular perturbations; singularly perturbed systems; speed-gradient control; Adaptive control; Control systems; Couplings; Electric variables control; Lyapunov method; Mechanical variables control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Stability;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1429241
