Observer-based robust control of one-sided Lipschitz nonlinear systems |
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Affiliation: | 1. Laboratory of Pure and Applied Mathematics, University Mouloud Mammeri of Tizi-Ouzou, BP No 17 RP, Tizi-Ouzou 15000, Algeria;2. University of Lorraine, CRAN UMR CNRS 7039, 54400 Cosnes et Romain, France;3. Department of Mechanical Engineering, Politecnico di Milano, 20156 Milan, Italy;4. EPI Inria DISCO, Laboratoire des Signaux et Systèmes, CNRS-Centrale Supelec, 91192 Gif-sur-Yvette, France |
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Abstract: | 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. |
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Keywords: | Observer-based control One-sided Lipschitz nonlinearity Quadratic inner-boundedness Parametric uncertainty |
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