Robust design of closed-loop nonlinear systems with input and state constraints

Diego A. Muñoz, Wolfgang Marquardt

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    1 Scopus citations

    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 languageEnglish
    Title of host publication8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012
    PublisherIFAC Secretariat
    Pages916-921
    Number of pages6
    EditionPART 1
    ISBN (Print)9783902823052
    DOIs
    StatePublished - 2012
    Event8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012 - Singapore, Singapore
    Duration: 10 Jul 201213 Jul 2012

    Publication series

    NameIFAC Proceedings Volumes (IFAC-PapersOnline)
    NumberPART 1
    Volume8
    ISSN (Print)1474-6670

    Conference

    Conference8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012
    Country/TerritorySingapore
    CitySingapore
    Period10/07/1213/07/12

    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

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