Bifurcation Control via State Feedback for Systems with a Single Uncontrollable Mode
This paper addresses the problem of bifurcation control by feedback for affine control systems \[ \dot x= f(x,\mu)+ g(x,\mu) u\tag{\(*\)} \] with \(n\)-dimensional state space and single input, depending on a real parameter \(\mu\). The linear approximation of system \((*)\) at \(x= 0\), \(\mu= 0\) is assumed to have one uncontrollable mode \(\lambda= 0\). The system \((*)\) is transformed by a linear coordinate change and feedback to one of the forms \[ \dot z= f_1(z,x,\mu)+ g_1(z,x,\mu) u,\;\dot x= A_2x+ B_2u+ f_2(z,x,\mu)+ g_2(z,x,\mu) u\tag{\(\&\)} \] or \[ \dot z= \mu+ f_1(z,x,\mu)+ g_1(z,x,\mu) u,\;\dot x= A_2x+ B_2u+ f_2(z,x,\mu)+ g_2(z,x,\mu) u,\tag{\(\#\)} \] where \(z\in \mathbb{R}\), \(x\in\mathbb{R}^{n-1}\), \(f_1\), \(f_2\) are of second-order and \(g_1\), \(g_2\) vanish at \((0,0,0)\). Matrices \(A_2\), \(B_2\) are in the Brunovsky canonical form. Both these systems are subject to a \(\mu\)-dependent feedback \[ u=\alpha(z, x,\mu)= a_z z+ \sum^{n-1}_{i=1} a_i x_i+ a_\mu\mu+ O^2(z,x,\mu)\tag{+} \] placing controllable modes of systems \((\&)\), \((\#)\) in the left half plane. Both these systems can be given quadratic normal forms by further homogeneous coordinate changes and feedbacks. These forms have been presented in a series of paper by this author [see: J. Math. Syst. Estimation Control 6, No. 1, 27-51 (1996; Zbl 0944.93013), SIAM J. Control Optimization 36, No. 1, 193-212 (1998; Zbl 0965.93022) and 213-232 (1998; Zbl 0965.93023), Controlling chaos and bifurcations in engineering systems, ed. by Guanrong Chen, Boca Raton, CRC Press, 369-389 (2000; Zbl 0941.93024)]. Using quadratic normal forms and relying on center manifold theory this paper examines bifurcations of system \((\&)\) and \((\#)\) under feedback \((+)\). A part of the paper (sections 1-4) that refers to system \((\&)\) repeats literally the contents of a paper: ``Bifurcations of control systems in normal forms included in the reference ``Controlling chaos and bifurcations in engineering systems mentioned above. New results (sections 5, 6) are concerned with system \((\#)\). They establish conditions for saddle-node bifurcation (Theorem 5.1), define a continuous (not smooth) feedback locally stabilizing this system (Theorem 5.3), and examine stability conditions when no bifurcation occurs (Theorem 5.4). Besides the feedback \((+)\), a perturbed feedback of the form \[ u= \alpha(z,x,\mu)+ \nu \] is studied, \(\nu\) denoting a perturbation, for which possible bifurcation are characterized (Theorems 6.1, 6.2).
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