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Nonlinear robust constrained control of partially uncontrollable and open-loop unstable systems |
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| Authors: | Olav Slupphaug Bjarne A. Foss |
| Affiliation: | 1. Dep. Informática y Automática, ETSI Informática, UNED, 28040 Madrid, Spain;2. Faculty of Engineering and the Environment, University of Southampton, Southampton, UK;3. Dep. Informática, University of Almería, ceiA3, CIESOL, 04120 Almería, Spain;4. Dep. Ingeniería Química, University of Almería, ceiA3, CIESOL, 04120 Almería, Spain;1. Universidade Federal de Santa Catarina, Departamento de Automação e Sistemas, 88040-900 Florianópolis, SC, Brazil;2. Dpto. de Informática, Universidad de Almería – CIESOL, Campus de Excelencia Internacional Agroalimentario, ceiA3, Crta. Sacramento s/n, 04120 La Cañada, Spain;3. Dpto. de Ingeniería, Universidad de Almería – CIESOL, Campus de Excelencia Internacional Agroalimentario, ceiA3, Crta. Sacramento s/n, 04120 La Cañada, Spain |
| Abstract: | In this paper we consider a bilinear matrix inequality (BMI) based method, which provides an ellipsoidal estimate of the region of attraction, for nonlinear constrained robust stabilization. Robustness against model uncertainty is handled. The method is based on an uncertain multi-model representation of the plant parameterized by affine local models and their respective supports in the state-space, and an associated piecewise affine state-feedback structure. We show that the method is applicable to uncertain constrained systems that are partially uncontrollable and open-loop unstable. |
| Keywords: | Nonlinear systems Discrete-time Quadratic stabilization Multi-model systems BMI Constraints |
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