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Robust H Dynamic State-Feedback Control for Nonlinear Discrete-Time Systems via LMI-Based Regional Eigenvalue Assignment

[+] Author Affiliations
W. Alexander Baker, Jr., Susan C. Schneider, Edwin E. Yaz

Marquette University, Milwaukee, WI

Paper No. DSCC2016-9762, pp. V001T01A006; 7 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5069-5
  • Copyright © 2016 by ASME


This paper uses Linear Matrix Inequality (LMI) techniques to apply regional eigenvalue assignment constraints to a dynamic state-feedback controller design for discrete-time systems with vanishing nonlinear perturbations. The controller design also incorporates the H∞ performance criterion. The regional eigenvalue assignment place the eigenvalues of the linear part of the system in two distinct regions, one region for the controller eigenvalues and one region for the observer eigenvalues, in such a way that the state estimation error goes to zero significantly faster than the state reaches steady state.

Copyright © 2016 by ASME



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