Attractive ellipsoids in robust control (Q2509842)

The monograph introduces a robust control design method for tracking or stabilization of a class of continuous-time uncertain nonlinear (quasi-Lipschitz) affine dynamic systems in the presence of disturbances called the Attractive Ellipsoid Method (AEM). Stabilizing feedback laws are selected by using Linear Matrix Inequalities (LMIs) and Bilinear Matrix Inequalities (BMIs). They may guarantee boundedness of all system trajectories provided the corresponding inequalities are satisfied. Such a bounded dynamics may be placed inside an ellipsoid. Hence, the best feedback parameters are associated with the minimal size of the ellipsoid. This finite-dimensional optimization problem cannot be solved analytically. Thus, relevant numerical procedures for designing robust and adaptive robust control laws are proposed in an unified manner using the AEM for a wide class of these dynamic systems with: (1) State and output feedbacks; (2) Sampled-data and quantized output feedbacks; (3) Robust feedbacks of input delayed systems, implicit systems and switched systems. The book consists of Preface, Contents, List of Figures, 12 Chapters. Bibliography, and Index. Chaps.1-2 introduce motivation and necessary mathematical facts. Chapter 3 establishes the main concepts of linear feedback design using \(S\)-procedure, discusses the storage function method and aspects of practical stabilization, and presents a technique of minimization of the attractive ellipsoid. Chapter 4 is devoted to direct feedback control design. Three feedback structures are considered within the AEM approach: (1) Static output feedback; (2) Observer-based output feedback; (3) Full-order dynamic controller. In Chapter 5, the feedback control design is proposed for nonlinear systems under sampled-data output measurements using an extended version of the AEM. Two feedback structures are analyzed including an implementable algorithm: (1) Linear output feedback using the Luenberger observer; (2) Full-order linear dynamic controller. A minimal attractive ellipsoid which guarantees practical stability is constructed. Chapter 6 is devoted to the analysis and design of an observer-based feedback controller for a perturbed nonlinear system with sampled and quantized output measurements. Sufficient conditions for the design of robust control law are derived using the AEM, the Lyapunov analysis and the relaxation of nonlinear optimization problem. A numerical algorithm is supplied. Chapter 7 deals with the analysis and synthesis of robust feedback control of implicit systems using the AEM. The stability/robustness analysis invokes a modified descriptor approach and usual Lyapunov-based methodology. Chapter 8 deals with the minimization of the effect of mismatched uncertainties in a sliding mode control. The LMI-based sliding mode control design is considered and the optimal sliding surface is constructed. Tuning in dynamic actuators as well as the sliding mode control of time-delayed systems using a prediction control are discussed in detail. Chapter 9 considers the robust stabilization of uncertain input-delayed affine-controlled systems. Two cases are distinguished for time-delayed systems: (1) Known constant input delay, where a predictor-based state feedback is proposed. (2) Interval-based unknown time-varying input delay with known bounds, where the observer-based controller is developed for uncertain systems with exogenous disturbances. A method for numerical calculation of the ellipsoid parameters of stabilizing feedback with the smallest zone of convergence is presented. Chapter 10 is focused on the robust output stabilization of switched nonlinear systems with arbitrary switching. Linear controller with the Luenberger-like observer subject to an average dwell tome scheme is considered. An extension of the AEM for systems with switched, sampled and quantized output is also given. Sufficient conditions for the practical stability are derived using the BMIs. Chapter 11 describes the application of the AEM to controlled systems with a-priori bounded control, where the states are not directly measurable. Current control is the projection of linear function of the state or its estimate. The proposed controller is practically stable. Chapter 12 deals with the design of a state estimator and adaptive controller based on the AEM for uncertain nonlinear systems with external perturbations. The set of stable feedbacks is determined by a specific matrix inequality. Two modifications of the AEM are included which allow: (1) To use online information obtained during the process; (2) To adjust matrix parameters appearing in constraints characterizing the class of adaptive stabilizing feedbacks. The proposed approach guarantees a ``minimal size'' of the resulting ellipsoid. The monograph presents a systematically written and organized text focused on understanding and the capability to apply the developed theory of the attractive ellipsoid method to real-world problems. The book is supplied with numerous numerical examples of control design of mechanical and electromechanical systems. There are some formal errors in the text, e.g. abstract of each chapter is again copied after Keywords or errors in Bibliography. The book will be useful to interested undergraduate and graduate students familiar with sufficient knowledge of modern systems theory as well as to professionals in control engineering and applied mathematics, and also to general readers interested in this emerging subject.