Globally Stable Implicit Euler Time-Discretization of a Nonlinear Single-Input Sliding-Mode Control System - Inria - Institut national de recherche en sciences et technologies du numérique
Communication Dans Un Congrès Année : 2016

Globally Stable Implicit Euler Time-Discretization of a Nonlinear Single-Input Sliding-Mode Control System

Résumé

In this note we study the effect of an implicit Euler time-discretization method on the stability of the discretization of a globally fixed-time stable, scalar differential inclusion representing a simple nonlinear system with a set-valued signum controller. The controller nonlinearity is a cubic term and it is shown that the fully-implicit method preserves the global Lyapunov stability property of the continuous-time system, contrarily the explicit discretization which does not. It allows to obtain finite-time convergence to the origin when the plant is undisturbed, while the cubic term provides the hyper-exponential convergence rate.
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Dates et versions

hal-01212601 , version 1 (06-10-2015)

Identifiants

Citer

Bernard Brogliato, Andrey Polyakov. Globally Stable Implicit Euler Time-Discretization of a Nonlinear Single-Input Sliding-Mode Control System. 54th Conference on Decision and Control 2015, Dec 2015, Osaka, Japan. pp.5426-5431, ⟨10.1109/CDC.2015.7403069⟩. ⟨hal-01212601⟩
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