CUED Publications database

CLF based designs with robustness to dynamic input uncertainties

Jankovic, M and Sepulchre, R and Kokotovic, PV (1999) CLF based designs with robustness to dynamic input uncertainties. Systems and Control Letters, 37. pp. 45-54. ISSN 0167-6911

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The problem of robust stabilization of nonlinear systems in the presence of input uncertainties is of great importance in practical implementation. Stabilizing control laws may not be robust to this type of uncertainty, especially if cancellation of nonlinearities is used in the design. By exploiting a connection between robustness and optimality, "domination redesign" of the control Lyapunov function (CLF) based Sontag's formula has been shown to possess robustness to static and dynamic input uncertainties. In this paper we provide a sufficient condition for the domination redesign to apply. This condition relies on properties of local homogeneous approximations of the system and of the CLF. We show that an inverse optimal control law may not exist when these conditions are violated and illustrate how these conditions may guide the choice of a CLF which is suitable for domination redesign. © 1999 Elsevier Science B.V. All rights reserved.

Item Type: Article
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:21
Last Modified: 08 Jul 2021 06:08
DOI: 10.1016/S0167-6911(99)00006-7