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Journal Articles International Journal of Robust and Nonlinear Control Year : 2021

MIMO Homogeneous Integral Control Design using the Implicit Lyapunov Function Approach

Abstract

In this paper, continuous and discontinuous integral controllers for MIMO systems are designed for a large class of nonlinear systems, which are (partially) feedback linearizable. These controllers of arbitrary positive or negative degree of homogeneity are derived by combining a Lyapunov function obtained from the Implicit Lyapunov Function (ILF) method with some extra explicit terms. Discontinuous integral controllers are able to stabilize an equilibrium or track a time-varying signal in finite time, while rejecting vanishing uncertainties and non-vanishing Lipschitz matching perturbations. Continuous integral controllers achieve asymptotic stabilization despite non-vanishing constant perturbations in finite-time, exponentially or nearly fixed-time for negative, zero or positive homogeneity degree, respectively. The design method and the properties of the different classes of integral controllers are illustrated by means of a simulation example.
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Dates and versions

hal-03131618 , version 1 (04-02-2021)

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Angel Mercado-Uribe, Jaime Alberto Moreno Pérez, Andrey Polyakov, Denis Efimov. MIMO Homogeneous Integral Control Design using the Implicit Lyapunov Function Approach. International Journal of Robust and Nonlinear Control, 2021, ⟨10.1002/rnc.5474⟩. ⟨hal-03131618⟩
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