Observer-based robust control of one-sided Lipschitz nonlinear systems

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• 作者：Sohaira Ahmad^a ; ¹ ; ^{sohaahmad64@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Muhammad Rehan^a ; ¹ ; ^{rehanqau@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Keum-Shik Hong^b ; ² ; ^{kshong@pusan.ac.kr" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Observer-based control ; One-sided Lipschitz nonlinearity ; Quadratic inner-boundedness ; Parametric uncertainty ; L2 gain
• 刊名：ISA Transactions
• 出版年：2016
• 出版时间：November 2016
• 年：2016
• 卷：65
• 期：Complete
• 页码：230-240
• 全文大小：791 K

文摘

This paper presents an observer-based controller design for the class of nonlinear systems with time-varying parametric uncertainties and norm-bounded disturbances. The design methodology, for the less conservative one-sided Lipschitz nonlinear systems, involves astute utilization of Young’s inequality and several matrix decompositions. A sufficient condition for simultaneous extraction of observer and controller gains is stipulated by a numerically tractable set of convex optimization conditions. The constraints are handled by a nonlinear iterative cone-complementary linearization method in obtaining gain matrices. Further, an observer-based control technique for one-sided Lipschitz nonlinear systems, robust against L₂-norm-bounded perturbations, is contrived. The proposed methodology ensures robustness against parametric uncertainties and external perturbations. Simulation examples demonstrating the effectiveness of the proposed methodologies are presented.