Gap metric based robustness analysis of nonlinear systems with full and partial feedback linearization
Gap metric based robustness analysis of nonlinear systems with full and partial feedback linearization
This paper uses gap metric analysis to derive robustness and performance margins for feedback linearizing controllers. Distinct from previous robustness analysis, it incorporates the case of output unstructured uncertainties, and is shown to yield general stability conditions which can be applied to both stable and unstable plants. It then expands on existing feedback linearizing control schemes by introducing a more general robust feedback linearizing control design which classifies the system nonlinearity into stable and unstable components and cancels only the unstable plant nonlinearities. This is done in order to preserve the stabilizing action of the inherently stabilizing nonlinearities. Robustness and performance margins are derived for this control scheme, and are expressed in terms of bounds on the plant nonlinearities and
the accuracy of the cancellation of the unstable plant nonlinearity by the controller. Case studies then confirm reduced conservatism compared with standard methods.
1385-1402
Al-Gburi, A.
fb75bc18-331f-4da6-81dc-389e963ffe25
Freeman, C. T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
French, M. C.
22958f0e-d779-4999-adf6-2711e2d910f8
April 2017
Al-Gburi, A.
fb75bc18-331f-4da6-81dc-389e963ffe25
Freeman, C. T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
French, M. C.
22958f0e-d779-4999-adf6-2711e2d910f8
Al-Gburi, A., Freeman, C. T. and French, M. C.
(2017)
Gap metric based robustness analysis of nonlinear systems with full and partial feedback linearization.
International Journal of Control, 91 (6), .
(doi:10.1080/00207179.2017.1316425).
Abstract
This paper uses gap metric analysis to derive robustness and performance margins for feedback linearizing controllers. Distinct from previous robustness analysis, it incorporates the case of output unstructured uncertainties, and is shown to yield general stability conditions which can be applied to both stable and unstable plants. It then expands on existing feedback linearizing control schemes by introducing a more general robust feedback linearizing control design which classifies the system nonlinearity into stable and unstable components and cancels only the unstable plant nonlinearities. This is done in order to preserve the stabilizing action of the inherently stabilizing nonlinearities. Robustness and performance margins are derived for this control scheme, and are expressed in terms of bounds on the plant nonlinearities and
the accuracy of the cancellation of the unstable plant nonlinearity by the controller. Case studies then confirm reduced conservatism compared with standard methods.
Text
IJC_revised19012017
- Accepted Manuscript
More information
Submitted date: 3 October 2015
Accepted/In Press date: 3 April 2017
e-pub ahead of print date: 19 April 2017
Published date: April 2017
Organisations:
Comms, Signal Processing & Control, EEE
Identifiers
Local EPrints ID: 382380
URI: http://eprints.soton.ac.uk/id/eprint/382380
ISSN: 0020-3270
PURE UUID: dc57c52e-1baa-4453-b14c-c8d298a73e82
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Date deposited: 03 Oct 2015 22:18
Last modified: 15 Mar 2024 05:21
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Contributors
Author:
A. Al-Gburi
Author:
C. T. Freeman
Author:
M. C. French
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