Title :
Piecewise affine observer-based robust controllers for constrained nonlinear systems
Author :
Imsland, Lars ; Slupphaug, Olav ; Foss, Bjarne A.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
For a general class of constrained uncertain nonlinear discrete-time systems, and a general class of observers, it is developed bilinear matrix inequalities whose solution gives gain matrices used in a piecewise affine observer/controller structure. The closed-loop system is robustly quadratically stable with a region of attraction larger than a prescribed ellipsoidal region. It is also developed a second-order algorithm for solving these inequalities locally.
Keywords :
closed loop systems; discrete time systems; linear matrix inequalities; nonlinear control systems; observers; robust control; uncertain systems; bilinear matrix inequalities; closed-loop system; constrained uncertain nonlinear discrete-time systems; ellipsoidal region; gain matrices; piecewise affine observer-based robust controllers; piecewise affine observer-controller structure; robust quadratic stability; second-order algorithm; Approximation methods; Linear matrix inequalities; Nonlinear systems; Observers; Output feedback; Stability analysis; State feedback; bilinear matrix inequalities; constrained systems; observer design; output feedback; robust nonlinear control;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
