Robust control design of a class of nonlinear input- and state-constrained systems

Diego A. Muñoz, Wolfgang Marquardt

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    9 Scopus citations

    Abstract

    This work focuses on control design for input-output feedback linearizable nonlinear systems with bounded inputs and state constraints in the presence of uncertainty. Controllers based on Lyapunov's direct method have been synthesized before for this class of nonlinear systems to enforce asymptotic stability in the presence of bounded inputs. However, none of these controllers accounts explicitly for state constraints. In order to address this task, we propose an optimization-based design method for which two properties will be guaranteed simultaneously despite parametric uncertainty, namely, closed-loop stability with bounded inputs and feasibility of the transient in the presence of state constraints.

    Original languageEnglish
    Pages (from-to)232-245
    Number of pages14
    JournalAnnual Reviews in Control
    Volume37
    Issue number2
    DOIs
    StatePublished - Dec 2013

    Bibliographical note

    Funding Information:
    The research leading to these results has received funding from the European Union’s Seventh Framework Programme (FP7/2007-2013) under Grant Agreement 257059 (www.fp7-autoprofit.eu). Diego A. Mu ñ oz studied chemical engineering at the National University of Colombia where he also received the MS degree in Mathematics in 2007. In 2008, he moved to Aachen (Germany) where he continued with a Ph.D. under the supervision of Prof. Marquardt at the RWTH Aachen University of Technology. Diego returned in 2013 to the Universidad Pontificia Bolivariana (Medellìn-Colombia) where he is creating the research line in process optimization. Current research interests include process modelling and analysis, optimization-based operations, design and control. Wolfgang Marquardt is a professor of process systems engineering at RWTH Aachen University. At present he also acts as the Chairman of the German Council of Science and Humanities which provides advice to the German state and federal governments on the structure and development of higher education and research. His research interests include process modeling and optimization, model-based process and product design, as well as process control and operations. He has co-authored more than 200 journal publications. His scientific achievements have been recognized by a number of distinctions, including the Leibniz-Prize of the German Research Foundation. He is a Fellow of IFAC and the Editor-in-Chief of the Journal of Process Control.

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