Stability analysis and state feedback stabilization of pendulum-like systems with multiple nonlinearities |
| |
Authors: | Hua Ouyang Ian R. Petersen Valery Ugrinovskii |
| |
Affiliation: | 1. Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, 7491 Trondheim, Norway;7. Norwegian Defence Research Establishment (FFI), P.O. Box 25, N-2027 Kjeller, Norway |
| |
Abstract: | This paper addresses the Lagrange stability analysis problem and the state feedback Lagrange stabilization problem for pendulum-like systems with multiple nonlinearities. An existing method for analysing the Lagrange stability of pendulum-like systems with a single nonlinearity is generalized to pendulum-like systems with multiple nonlinearities. Also, a non-degeneracy condition of the existing Lagrange stability criterion is removed and a strict frequency-domain inequality is used instead. To study the state feedback Lagrange stabilization problem, this paper develops an extended strict bounded real lemma for linear systems which are not stable but stabilizable. A sufficient condition for state feedback Lagrange stabilization is proposed in terms of an algebraic Riccati equation with a sign indefinite solution. |
| |
Keywords: | |
本文献已被 ScienceDirect 等数据库收录! |
|