Controller Redesign via Sum of Squares Programming
説明
A controller redesign is considered for a class of nonlinear plants. A locally stabilizing state feedback and the corresponding Lyapunov function are assumed to be given. Then, the Lyapunov function is fixed for ensuring a performance, while the state feedback is redesigned for enlarging the asymptotic stability region of the origin. This redesign can be done efficiently by using sum of squares programming if the plant and the controller are characterized by polynomial functions of the state and/or the control input.
収録刊行物
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- 2006 SICE-ICASE International Joint Conference
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2006 SICE-ICASE International Joint Conference 4012-4015, 2006-01-01
IEEE