Title :
Input-to-state stability for parameterized discrete-time time-varying nonlinear systems with applications
Author :
Laila, Dina Shona ; Astolfi, Alessandro
Author_Institution :
Dept. of Electr. Eng., Imperial Coll., London, UK
Abstract :
Input-to-state stability (ISS) of a parameterized family of discrete-time time-varying nonlinear systems is investigated. A converse Lyapunov theorem for such systems is developed. We consider parameterized families of discrete-time systems and concentrate on a semiglobal practical property that naturally arises when an approximate discrete-time model is used to design a controller for a sampled-data system. Application of our main result to time-varying periodic systems is presented. This is then used to design a semiglobal practical ISS (SP-ISS) control law for the model of a wheeled mobile robot.
Keywords :
Lyapunov methods; discrete time systems; nonlinear control systems; periodic control; sampled data systems; stability; time-varying systems; converse Lyapunov theorem; input-to-state stability; parameterized discrete-time system; sampled-data system; time-varying nonlinear system; time-varying periodic system; wheeled mobile robot; Control nonlinearities; Control systems; Educational institutions; Linear systems; Mobile robots; Nonlinear control systems; Nonlinear systems; Portfolios; Robust stability; Time varying systems;
Conference_Titel :
Control Conference, 2004. 5th Asian
Conference_Location :
Melbourne, Victoria, Australia
Print_ISBN :
0-7803-8873-9
