Lyapunov-based continuous-time nonlinear controller redesign for sampled-data implementation (Q2486090)

Nonlinear sampled data systems are considered in this paper. It is assumed that the continuous plant can be described by state space description linear in the control input \(u\). A control law for the continuous system with an appropriate Lyapunov function must be available. The main goal of the paper is to adapt the continuous-time controller for sampled data systems with zero order hold. For this purpose the continuous time control law is replaced by a power series in the sampling time \(T\) with the first term identical to the continuous time controller. The other terms are determined by using a Fliess series expansion of the Lyapunov differene for the discrete time system. The Lyapunov difference is based on the known Lyapunov function used for the continuous-time controller design. A procedure for developing the discrete-time controller is described. The proposed method is illustrated by two numerical examples.