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Dynamic Stabilization for a Nonlinear System with Uncontrollable Unstable Linearization  

Seo, Sang-Bo (ASRI, School of Electrical Engineering, Seoul National University)
Shim, Hyung-Bo (ASRI, School of Electrical Engineering, Seoul National University)
Seo, Jin-Heon (ASRI, School of Electrical Engineering, Seoul National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.46, no.4, 2009 , pp. 1-6 More about this Journal
Abstract
In this paper, we design a dynamic state feedback smooth stabilizer for a nonlinear system whose Jacobian linearization may have uncontrollable mode because its eigenvalues are on the right half-plane. After designing an augmented system, a dynamic exponent scaling and backstepping enable one to explicitly design a smooth stabilizer and a continuously differentiable Lyapunov function which is positive definite and proper. The convergence of the designed controller is proved by the new notion 'degree indicator'.
Keywords
dynamic state feedback; exponent scaling; uncontrollable unstable linearization; backstepping;
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