Stability analysis and integral extension of sub-optimal nonlinear damping control
Résumé
The problems of robustness with respect to external inputs and of
convergence rate estimation are considered for the so-called sub-optimal
nonlinear damping control [1]. To this end, existence
of solutions is justified, a strict Lyapunov function is found and
its properties are investigated. The hyperexponential convergence
of the unperturbed sub-optimal nonlinear damping control is demonstrated.
Moreover, an integral extension is proposed to complement the controller
with capability of compensation for static errors. The results are
illustrated by numeric simulations and the control experiments.
Domaines
AutomatiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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