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Design of robust control Lyapunov function for non-linear affine systems with uncertainty

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2 Author(s)
Yang, Y. ; Chem. & Mater. Eng., Univ. of Alberta, Edmonton, AB, Canada ; Lee, J.M.

This study proposes a fractional programming formulation and its solution strategy to construct a robust control Lyapunov function for control affine systems of relatively small size in the presence of disturbances and input constraints. The original formulation is recast as a recursive optimisation problem, and a single optimisation variable is heuristically selected at each round to gradually enlarge the region of attraction for a quadratic Lyapunov function. Two case studies with actuator saturation show the efficacy of the proposed approach.

Published in:

Control Theory & Applications, IET  (Volume:6 ,  Issue: 14 )