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Author Olfati-Saber, R.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1999
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Control systems ♦ Nonlinear systems ♦ Control design ♦ Nonlinear equations ♦ Ear ♦ Backstepping ♦ Flexible printed circuits ♦ Linear systems ♦ Feedback ♦ Sufficient conditions
Abstract We consider stabilization of nonlinear systems in a special normal form as the cascade of a nonlinear subsystem and a linear subsystem. These systems do not possess any particular triangular structure. Despite this fact, we show how a backstepping type procedure applied to these systems naturally leads to a fixed point equation in the control input. We give conditions for well-posedness of these fixed point equations and show how these fixed points called Fixed Point Controllers (FPC) can be used for stabilization of cascade nonlinear systems. As special cases, we apply our results to semiglobal stabilization of two complex under-actuated nonlinear systems, namely the cart-pole system and the rotating pendulum.
Description Author affiliation: Lab. for Inf. & Decision Syst., MIT, Cambridge, MA, USA (Olfati-Saber, R.)
ISBN 0780352505
ISSN 01912216
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1999-12-07
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 642.61 kB
Page Count 8
Starting Page 1174
Ending Page 1181

Source: IEEE Xplore Digital Library