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Robust stabilisation and passivity of nonlinear systems with structural uncertainty

Robust stabilisation and passivity of nonlinear systems with structural uncertainty

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  • Author(s): X.-S. Cai 1  and  Z.-Z. Han 2
    • View affiliations
    • Affiliations: 1: College of Information Science and Engineering, Zhejiang Normal University, People's Republic of China
      2: Department of Automation, Shanghai Jiaotong University, Shanghai, People's Republic of China
  • Source: Volume 153, Issue 6, November 2006, p. 641 – 646
    DOI:  10.1049/ip-cta:20045225 , Print ISSN 1350-2379, Online ISSN 1359-7035
© The Institution of Engineering and Technology
Published

Robust stabilisation and passivity of general nonlinear systems with structural uncertainty is considered. On the basis of the theory of passive systems, it is verified that under some conditions passivity implies zero-state detectability and that passivity can result in robust stabilisation of the general nonlinear system with structural uncertainty. A smooth-state feedback law is constructed with the solution of an equation. The effectiveness of the proposed technique will be tested via simulations.

Inspec keywords: state feedback; nonlinear control systems; stability; uncertain systems

Other keywords: structural uncertainty; nonlinear systems; zero-state detectability; passivity; smooth-state feedback law; robust stabilisation

Subjects: Nonlinear control systems; Stability in control theory

References

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      • W. Lin . Feedback stabilization of general nonlinear control systems: a passive system approach. Syst. Control Lett. , 1 , 41 - 52
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      • X.S. Cai , Z.Z. Han , C.H. Kou . Semiglobally practical stabilization of a class of multivariable nonlinear systems with uncertainty. Acta Autom. Sin. , 6 , 1021 - 1026
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      • W. Lin , T.L. Shen . Robust passivity and feedback design for minimum-phase nonlinear systems with structural uncertainty. Automatica , 1 , 35 - 47
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