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Robust Stabilization of Nonlinear Systems via Normalized Coprime Factor Representations |
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| Authors: | B.D.O. ANDERSON M.R. JAMES D.J.N. LIMEBEER |
| Affiliation: | †Department of Systems Engineering, Research School of Information Science & Engineering, Australian National University, Canberra, ACT 0200, Australia;‡Department of Engineering, Faculty of Engineering & Information Technology, Australian National University, Canberra, ACT 0200, Australia;§Department of Electrical and Electronics Engineering, Imperial College, London SW7 2BT, UK |
| Abstract: | A reasonably complete theory for the synthesis of robust controllers for a broad class of nonlinear systems is now available. We use this theory to generalize the linear theory of normalized coprime factor robustness optimization to the case of affine input nonlinear systems. In particular, we show that the equilibrium controller may be characterized in terms of the stabilizing and destabilizing solutions of the Hamilton–Jacobi equation used to calculate the normalized (right) coprime factors of the plant. We also show that the optimal robustness margin of |
| Keywords: | Robust control nonlinear systems Hankel norm robust stabilization Isaac&rsquo s equation information state normalized coprime factorization |
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