Lyapunov-based continuous-time nonlinear controller redesign for sampled-data implementation
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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.
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