Title

Robust Control Of Nonlinear Uncertain Systems Under Generalized Matching Conditions

Keywords

cascade control; control system synthesis; Lyapunov methods; matching conditions; nonlinear control systems; robust control; robustness; stability; uncertain systems

Abstract

This paper considers the problem of stabilizing nonlinear uncertain systems. First, we define for nonlinear uncertain systems the generalized matching conditions which encompass a larger class of uncertain systems than the existing matching conditions. Then, a systematic procedure of robust control design is developed for the class of systems satisfying the generalized matching conditions. The procedure is recursive and straightforward, and makes the stability results easy to establish. The proposed control is a continuous and bounded function of the system state and requires only nonlinear bounding functions on the size of uncertainties. Global stability in terms of either asymptotic, exponential, or uniform ultimate bounded stability is guaranteed under the proposed control. Extension to tracking problems is shown to be trivial. © 1993.

Publication Date

1-1-1993

Publication Title

Automatica

Volume

29

Issue

4

Number of Pages

985-998

Document Type

Article

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1016/0005-1098(93)90101-X

Socpus ID

0027625370 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0027625370

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