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On the robustness of nonlinear regulators and its application to nonlinear systems stabilization

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2 Author(s)
Geromel, J.C. ; FEC/UNICAMP, Campinas, Brazil ; Yamakami, A.

In this note, we develop a new robustness property of optimal regulators of nonlinear dynamic systems. The stability condition we establish presents a great advantage when compared to other stability conditions already available in the literature. It does not depend explicitly on the optimal control problem solution, allowing then a very simple and a priori analysis of the closed-loop system stability. Based on that, we propose a methodology for determining linear decentralized controllers which stabilize asymptotically a wide class of nonlinear dynamic systems. As an application example we present and discuss in detail the control design for a two-pendulum system [4].

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Automatic Control, IEEE Transactions on  (Volume:30 ,  Issue: 12 )