Feedback stabilization of the nonlinear pendulum under uncertainty: A robustness issue

DOI10.1016/0167-6911(86)90115-5MaRDI QIDQ1073757zbMATH OpenOpenAlexFDO

Authors Fathi M. A. Salam

Publication date 1986

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0167-6911(86)90115-5

zbMATH Keywords

Liapunov's direct methodMelnikov's methodnonlinear pendulumregion of stabilityrobust controluncertainty

Mathematics Subject Classification ID

Stability of solutions to ordinary differential equations (34D20) Stability for nonlinear problems in mechanics (70K20) Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Stabilization of systems by feedback (93D15) Asymptotic stability in control theory (93D20)

Review text

We examine the control of a (prototype) nonlinear pendulum under uncertainty in modelling. The uncertainty is sufficiently small and is a function of both state and time. We apply Liapunov's direct method to prove the stability of an equilibrium point. Then, we apply Melnikov's method to introduce a criterion for the control to avoid deforming the actual region of stability of the equilibrium point. We demonstrate the cooperative relationship between the Liapunov and Melnikov methods in assessing stability. Consequently, we propose preserving the size and shape of the region of stability, and preventing the creation of complicated dynamics on its boundary, as indicative of robust control. In essence, robustness of controllers for nonlinear systems must be treated from (nonlocal) dynamical systems viewpoint. A simulation result is given which quantitatively supports the analysis.

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Cites work

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Cited in

(3)

• Disturbance-generated bifurcations in a simple adaptive system: Simulation evidence
• Melnikov's vector - a ``Measure of chaos
• Stability analysis and state feedback stabilization of pendulum-like systems with multiple nonlinearities

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