Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2003.11b
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- Pages.315-318
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- 2003
Switching Control for End Order Nonlinear Systems by Avoiding Singular Manifolds
특이공간 회피에 의한 2차 비선형 시스템의 스위칭 제어기 설계
- Published : 2003.11.21
Abstract
This paper proposes a switching control method applicable to any affine, 2nd order nonlinear system with single input. The key contribution is to develop a control design method which uses a piecewise continuous Lyapunov function non-increasing at every discontinuous point. The proposed design method requires no restrictions except full state availability. To obtain a non-increasing, piecewise continuous Lyapunov function, we change the sign of off-diagonal term s of the positive definite matrix composing the former Lyapunov function according to the sign of the Inter-connection term. And we use the solution of inequalities which guarantee each Lyapunov function is non-increasing at any discontinuous point.