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A sample-time adjusted feedback for robust bounded output stabilization. (English) Zbl 1284.93242
Summary: This paper deals with a bounded control design for a class of nonlinear systems where the mathematical model may be not explicitly given. This class of uncertain nonlinear systems governed by a system of ODEs with quasi-Lipschitz right-hand side and containing external perturbations as well. The Attractive Ellipsoid Method (AEM) application permits to describe the class of nonlinear feedbacks (containing a nonlinear projection operator, a linear state estimator and a feedback matrix-gain) guaranteeing a boundedness of all possible trajectories around the origin. To fulfill this property some modification of AEM are introduced: basically, some sort of sample-time corrections of the feedback parameters are required. The optimization of feedback within this class of controllers is associated with the selection of the feedback parameters which provide the trajectory converges within an ellipsoid of a “minimal size”. The effectiveness of the suggested approach is illustrated by its application to a flexible arm system.

MSC:
93E12 Identification in stochastic control theory
93C57 Sampled-data control/observation systems
93E10 Estimation and detection in stochastic control theory
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