Analysis and synthesis of nonlinear control systems. A convex optimisation approach
Implicit ordinary differential equations, differential-algebraic equations (34A09) Convex programming (90C25) Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02) Synthesis problems (93B50) Feedback control (93B52) Observers (93B53) Nonlinear systems in control theory (93C10) Discrete-time control/observation systems (93C55) Adaptive or robust stabilization (93D21) Lyapunov and storage functions (93D30)
The reviewed monograph is devoted to the analysis and synthesis of nonlinear control systems with a special emphasis on polynomial nonlinearities and differential-algebraic equations, and it focuses on a wide range of control objectives including robust stabilization around a particular operating point or trajectory, disturbance rejection, state estimation, and parameter scheduling. Since the mentioned objectives can be difficult to fulfill for generic nonlinear models, the monograph is focused on simplification, approximation, and transformation techniques which bring nonlinear systems in a form appropriate for further analysis and control design. In particular, the models with convex structure (the so-called Takagi-Sugeno form) set up the core of the proposed analysis and design approach. The systematic introduction to the Takagi-Sugeno models using the sector nonlinearity approach and approximation method is provided in Chapter 3. These are complemented with polynomial and descriptor representations (differential/difference equations with additional algebraic constraints). Chapter 4 addresses stability analysis of the considered models and focuses on the quadratic stability of the Takagi-Sugeno models and non-quadratic approaches that are based on piecewise and parameter-dependent Lyapunov functions. These approaches are then generalized to the cases of polynomial and descriptor models. All the results can be stated as convex optimization problems in the form of linear matrix inequalities or the sum of squares. The utilization of the previously presented stability analysis approaches for the purposes of the feedback control design is presented in Chapter 5. Special attention is paid to the robustness and specific performance specifications, like input/output constraints, and \(\mathcal H_\infty\) disturbance rejection. The chapter is concluded with an application case study for the automated wheelchair swing-up control. Chapter 6 is devoted to the observer design and output feedback control with two real-time applications presented: sitting control for people with spinal cord injury and observer-based trajectory tracking for power-assisted wheelchairs. Finally, Chapter 7 provides the authors' view on the perspectives of the convex optimization-based analysis and design of nonlinear control systems.
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