Abstract
This work focuses on the control design for feedback linearizable nonlinear systems with unknown time-varying disturbances and uncertainty such that bounds on inputs and state constraints are not violated. Exploiting the special structure of the systems considered, controllers based on Lyapunov's direct methods are easily synthesized, which enforce asymptotic stability in the presence of bounded inputs. However, these controllers do not account explicitly for state constraints in the presence of disturbances and uncertainty. The solution of this task is addressed in this work by an optimization-based method, the so-called normal vector approach.
| Original language | English |
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| Title of host publication | 8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012 |
| Publisher | IFAC Secretariat |
| Pages | 916-921 |
| Number of pages | 6 |
| Edition | PART 1 |
| ISBN (Print) | 9783902823052 |
| DOIs | |
| State | Published - 2012 |
| Event | 8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012 - Singapore, Singapore Duration: 10 Jul 2012 → 13 Jul 2012 |
Publication series
| Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
|---|---|
| Number | PART 1 |
| Volume | 8 |
| ISSN (Print) | 1474-6670 |
Conference
| Conference | 8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012 |
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| Country/Territory | Singapore |
| City | Singapore |
| Period | 10/07/12 → 13/07/12 |
Bibliographical note
Funding Information:This work has been supported by the Deutscher Akademis-cher Austausch Dienst (DAAD-ALECOL) and the Univer-sidad Pontificia Bolivariana - Medellín.
Keywords
- Bounded disturbances
- Feedback linearization
- Lyapunov methods
- MIMO
- Robustness
- Saturation
- State constraints
- Transient stability
- Uncertainty