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Guaranteed Cost Control of Stochastic Uncertain Systems with Slope Bounded Nonlinearities via the use of Dynamic Multipliers

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1 Author(s)
Ian R. Petersen ; School of Information Technology and Electrical Engineering, University of New South Wales, Australian Defence Force Academy, Canberra, ACT 2600, Australia,

This paper presents a new approach to constructive output feedback robust nonlinear controller design. The approach involves a class of controllers which include copies of the slope bounded nonlinearities occurring in the plant. Integral quadratic constraints and dynamic multipliers are introduced to exploit these repeated nonlinearities. The linear part of the controller is synthesized using minimax LQG control theory. This leads to a stabilizing nonlinear output feedback controller which gives an upper bound on the closed loop value of a quadratic cost functional

Published in:

Proceedings of the 45th IEEE Conference on Decision and Control

Date of Conference:

13-15 Dec. 2006