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

Diego A. Muñoz; Wolfgang Marquardt

doi:10.3182/20120710-4-SG-2026.00143

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

Diego A. Muñoz
, Wolfgang Marquardt

Mathematical Process Optimization

Research output: Chapter in Book/Conference proceeding › Conference and proceedings › peer-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 language	English
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
Volume	45
Edition	15
ISBN (Print)	9783902823052
DOIs	https://doi.org/10.3182/20120710-4-SG-2026.00143
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
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

Types Minciencias

Scientific events with a public engagement component

Access to Document

10.3182/20120710-4-SG-2026.00143

Cite this

Muñoz, D. A., & Marquardt, W. (2012). Robust design of closed-loop nonlinear systems with input and state constraints. In 8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012 (15 ed., Vol. 45, pp. 916-921). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 8, No. PART 1). IFAC Secretariat. https://doi.org/10.3182/20120710-4-SG-2026.00143

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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.",

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author = "Mu{\~n}oz, \{Diego A.\} and Wolfgang Marquardt",

note = "Funding Information: This work has been supported by the Deutscher Akademis-cher Austausch Dienst (DAAD-ALECOL) and the Univer-sidad Pontificia Bolivariana - Medell{\'i}n.; 8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012 ; Conference date: 10-07-2012 Through 13-07-2012",

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Muñoz, DA & Marquardt, W 2012, Robust design of closed-loop nonlinear systems with input and state constraints. in 8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012. 15 edn, vol. 45, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 8, IFAC Secretariat, pp. 916-921, 8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012, Singapore, Singapore, 10/07/12. https://doi.org/10.3182/20120710-4-SG-2026.00143

Robust design of closed-loop nonlinear systems with input and state constraints. / Muñoz, Diego A.; Marquardt, Wolfgang.
8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012. Vol. 45 15. ed. IFAC Secretariat, 2012. p. 916-921 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 8, No. PART 1).

Research output: Chapter in Book/Conference proceeding › Conference and proceedings › peer-review

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AU - Muñoz, Diego A.

AU - Marquardt, Wolfgang

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N2 - 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.

AB - 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.

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KW - Feedback linearization

KW - Lyapunov methods

KW - MIMO

KW - Robustness

KW - Saturation

KW - State constraints

KW - Transient stability

KW - Uncertainty

KW - Feedback linearization

KW - Saturation

KW - Lyapunov methods

KW - MIMO

KW - Robustness

KW - Bounded Disturbances

KW - Uncertainty

KW - Transient stability

KW - State constraints

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DO - 10.3182/20120710-4-SG-2026.00143

M3 - Ponencia publicada en las memorias del evento con ISBN

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T2 - 8th International Symposium on Advanced Control of Chemical Processes, ADCHEM 2012

Y2 - 10 July 2012 through 13 July 2012

ER -

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

Abstract

Publication series

Conference

Bibliographical note

Keywords

Types Minciencias

Access to Document

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Cite this