Stability of controllers with on-line computations

DOI10.1007/BF02169548MaRDI QIDQ1189264zbMATH OpenOpenAlexFDO

Authors Pedro J. Zufiria, Ramesh S. Guttalu

Publication date 26 September 1992

Published in Dynamics and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/bf02169548

zbMATH Keywords

iterative algorithmLyapunov stabilitymultivariable nonlinear control loopsnonlinear discrete-time feedback lawsingular perturbationtracking control problems

Mathematics Subject Classification ID

Control/observation systems governed by ordinary differential equations (93C15) Sampled-data control/observation systems (93C57) Control/observation systems involving computers (process control, etc.) (93C83) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Stabilization of systems by feedback (93D15)

Review text

The paper considers the important problem of stability of multivariable nonlinear control loops, in which the nonlinear discrete-time feedback law requires in real-time the solution of a set of nonlinear algebraic equations. Since the iterative algorithm for solving the algebraic system may be time consuming, the dynamics of the solving algorithm is taken into account. The paper focusses on the combined analysis of the dynamics of the system being controlled and the solving algorithm. Since a small sampling period is assumed, a continuous-time formulation is employed to characterize both the solving algorithm and the plant. The main proposition of the paper consists in updating the control law for every sampling instant with the iterate value available in the iterative algorithm at that sampling instant. A singular perturbation formulation and the notion of Lyapunov stability are used to perform stability analysis of the over-all system. Tracking control problems are studied as well as control problems requiring computation of inverse kinematics. The results may be conservative, due to Lyapunov's direct method.

Recommendations

• scientific article; zbMATH DE number 4207940
• scientific article; zbMATH DE number 3889361
• scientific article; zbMATH DE number 3882310
• On-line stability index for robust control
• scientific article; zbMATH DE number 4147999
• On stability of compound controlled systems
• scientific article; zbMATH DE number 59444
• Online Optimization as a Feedback Controller: Stability and Tracking
• scientific article; zbMATH DE number 3064395
• On the computation of controls in nonlinear systems

Cites work

• A computational method for finding all the roots of a vector function
• scientific article; zbMATH DE number 4055448 (Why is no real title available?)
• scientific article; zbMATH DE number 4186113 (Why is no real title available?)
• On an application of dynamical systems theory to determine all the zeros of a vector function
• Quadratic-type Lyapunov functions for singularly perturbed systems
• Uniform asymptotic stability of non-linear singularly perturbed general and large-scale systems

Cited in

(2)

• scientific article; zbMATH DE number 4207940 (Why is no real title available?)
• A Gauss-Seidel type solver for the fast computation of input-constrained control systems

This page was built for publication: Stability of controllers with on-line computations

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1189264)