Title :
Comparison of logic-based switching control designs for a nonlinear system
Author :
Freidovich, Leonid B. ; Khalil, Hassan K.
Author_Institution :
Dept. of Math., Michigan State Univ., East Lansing, MI, USA
fDate :
June 30 2004-July 2 2004
Abstract :
We consider an example of a second order nonlinear system with large parametric uncertainties. The two parameters of the system are assumed to belong to a finite set. The goal is to guarantee (practical) convergence of the system output to a given constant reference signal. Feedback linearization-based candidate controllers with pole placement are designed for each possible set of parameters. After that, we consider the design of a high-level logic-based supervisor to organize switching between these candidate controllers. Three different approaches are used and compared.
Keywords :
Lyapunov methods; control system synthesis; convergence; feedback; hysteresis; linearisation techniques; nonlinear control systems; pole assignment; switching; uncertain systems; Lyapunov methods; candidate controllers; constant reference signal; control system synthesis; feedback linearization; finite set; high level logic based supervisor design; hysteresis switching; logic based switching control designs; parametric uncertainty; pole placement; second order nonlinear system; system output convergence;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4
